manualshive.com logo in svg

YASKAWA VIPA SPEED7, Operation Manual, Page: 426 / 1007

Share
Download
YASKAWA VIPA SPEED7 Operation Manual Download Page 426

13.3.7.1.2 

Conversion factors

The calculation of FactorPosition is only valid if servo parameter Refer-

ence Pulse Multiplier (Pn218) = 1.

FactorPosition - Factor for converting the position of user units into drive units (incre-

ments) and back.

Resolution

- Number of increments per user unit

Numerator

- Numerator: Electronic Gear Ratio (Pn20E) of the servo parameter

Denominator

- Denominator: Electronic Gear Ratio (Pn210) of the servo parameter

Example User unit for position = 1 revolution

FactorPosition - Factor for converting the position of user units into drive units (incre-

ments) and back.

Resolution

- Number of increments per user unit

Resolution

 = 2

20

 = 1048576

Numerator

- Numerator: Electronic Gear Ratio (Pn20E) of the servo parameter

Numerator

 = 1024

Denominator

- Denominator: Electronic Gear Ratio (Pn210) of the servo parameter

Denominator

 = 1

Example minimum distance

MinPos

- Minimum distance in rotations

Resolution - Number of increments per user unit

Resolution

 = 2

20

 = 1048576

Numerator - Numerator: Electronic Gear Ratio (Pn20E) of the servo parameter

Numerator

 = 1024

Period

- Minimum period

Period

 = 1

FactorPosition

VIPA SPEED7

Motion control - Simple Motion Control Library

Usage Sigma-5/7 Pulse Train > Drive specific block

HB00 | OPL_SP7 | Operation list | en | 18-30

 

426

Summary of Contents for VIPA SPEED7

Page 1: ...OPL_SP7 Operation list Manual HB00 OPL_SP7 Operation list en 18 30 VIPA SPEED7 SPEED7 Operation list www vipa com en service support manuals ...

Page 2: ...SP7_000_OPL SP7 8 EN 2018 VIPA GmbH Ohmstr 4 91074 Herzogenaurach Telephone 49 9132 744 0 Fax 49 9132 744 1864 Email info vipa de Internet www vipa com ...

Page 3: ...uctions 47 3 16 Data type conversion instructions 51 3 17 Comparison instructions 53 3 18 Combination instructions Bit 55 3 19 Combination instructions Word 63 3 20 Timer instructions 64 3 21 Counter instructions 65 4 Block parameters 66 4 1 HW identifier HW_ID 66 4 2 General and Specific Error Information RET_VAL 66 5 Include VIPA library 69 5 1 Integration into Siemens SIMATIC Manager 69 5 2 Int...

Page 4: ...ind 104 7 2 3 FB 47 DSTRIKE Electric door opener 106 7 3 Access Control 107 7 3 1 FB 48 ACONTROL Access control 107 7 3 2 UDT 3 ACLREC Data structure for FB 48 108 7 3 3 UDT 4 ACL Data structure for FB 48 109 7 3 4 FB 49 KEYPAD Keyboard 109 7 3 5 FB 50 KEYPAD2 Keyboard 111 8 Network Communication 114 8 1 Open Communication 114 8 1 1 Connection oriented protocols 114 8 1 2 Connection less protocols...

Page 5: ..._SND_RK Send to CP 341 217 10 2 CP040 219 10 2 1 Overview 219 10 2 2 FB 60 SEND Send to System SLIO CP 040 220 10 2 3 FB 61 RECEIVE Receive from System SLIO CP 040 223 10 2 4 FB 65 CP040_COM Communication SLIO CP 040 225 10 3 CP240 230 10 3 1 FC 0 SEND_ASCII_STX_3964 Send to CP 240 230 10 3 2 FC 1 RECEIVE_ASCII_STX_3964 Receive from CP 240 232 10 3 3 FC 8 STEUERBIT Modem functionality CP 240 233 1...

Page 6: ... 283 12 5 3 SFC 225 HF_PWM HF pulse duration modulation 285 13 Motion control Simple Motion Control Library 287 13 1 Overview 287 13 2 Usage Sigma 5 7 EtherCAT 288 13 2 1 Usage Sigma 5 EtherCAT 288 13 2 2 Usage Sigma 7S EtherCAT 324 13 2 3 Usage Sigma 7W EtherCAT 362 13 3 Usage Sigma 5 7 Pulse Train 405 13 3 1 Overview 405 13 3 2 Set the parameters on the drive 405 13 3 3 Wiring 406 13 3 4 Usage i...

Page 7: ...time meter 646 14 1 4 SFC 2 SET_RTM Set run time meter 646 14 1 5 SFC 3 CTRL_RTM Control run time meter 647 14 1 6 SFC 4 READ_RTM Read run time meter 647 14 1 7 SFC 5 GADR_LGC Logical address of a channel 648 14 1 8 SFC 6 RD_SINFO Read start information 650 14 1 9 SFC 7 DP_PRAL Triggering a hardware interrupt on the DP master 652 14 1 10 SFC 12 D_ACT_DP DP Activating and Deactivating of DP slaves ...

Page 8: ... 14 1 47 SFC 59 RD_REC Read record 700 14 1 48 SFC 64 TIME_TCK Read system time tick 702 14 1 49 SFC 65 X_SEND Send data 703 14 1 50 SFC 66 X_RCV Receive data 705 14 1 51 SFC 67 X_GET Read data 708 14 1 52 SFC 68 X_PUT Write data 711 14 1 53 SFC 69 X_ABORT Disconnect 714 14 1 54 SFC 70 GEO_LOG Determining the Start Address of a Module 716 14 1 55 SFC 71 LOG_GEO Determining the slot belonging to a ...

Page 9: ...rite Analog Value 2 802 15 1 13 FC 110 PER_ET1 Read Write Ext Per 1 803 15 1 14 FC 111 PER_ET2 Read Write Ext Per 2 804 15 2 IEC 805 15 2 1 Date and time as complex data types 805 15 2 2 FC 1 AD_DT_TM Add duration to instant of time 805 15 2 3 FC 2 CONCAT Concatenate two STRING variables 805 15 2 4 FC 3 D_TOD_DT Combine DATE and TIME_OF_DAY 806 15 2 5 FC 4 DELETE Delete in a STRING variable 806 15...

Page 10: ...s 821 15 3 2 FB 21 SETIO PROFIBUS PROFINET write all Outputs 822 15 3 3 FB 22 GETIO_PART PROFIBUS PROFINET read a part of the Inputs 822 15 3 4 FB 23 SETIO_PART PROFIBUS PROFINET write a part of the Out puts 824 15 4 S5 Converting 825 15 4 1 FC 112 Sine x Sine 825 15 4 2 FC 113 Cosine x Cosine 826 15 4 3 FC 114 Tangent x Tangent 827 15 4 4 FC 115 Cotangent x Cotangent 827 15 4 5 FC 116 Arc Sine x ...

Page 11: ... 909 16 3 File Functions SPEED7 CPUs 910 16 3 1 FC SFC 195 and FC SFC 208 215 Memory card access 910 16 3 2 FC SFC 195 FILE_ATT Change file attributes 911 16 3 3 FC SFC 208 FILE_OPN Open file 912 16 3 4 FC SFC 209 FILE_CRE Create file 913 16 3 5 FC SFC 210 FILE_CLO Close file 914 16 3 6 FC SFC 211 FILE_RD Read file 915 16 3 7 FC SFC 212 FILE_WR Write file 916 16 3 8 FC SFC 213 FILE_SEK Position po...

Page 12: ...formation DPM PROFINET IO EtherCAT SSL ID xy94h 982 17 19 Status information PROFINET EtherCAT PB DP SSL ID xy96h 984 17 20 Diagnostic buffer of the CPU CP SSL ID xyA0h 986 17 21 Module diagnostic information SSL ID 00B1h 988 17 22 Module diagnostic information via physical address SSL ID 00B2h 990 17 23 Module diagnostic information via logical address SSL ID 00B3h 991 17 24 Diagnostic data of a ...

Page 13: ...ay be included for units which are not present at the customer site The exact scope of delivery is described in the respective purchase contract Hereby VIPA GmbH declares that the products and systems are in compliance with the essential requirements and other relevant provisions Conformity is indicated by the CE marking affixed to the product For more information regarding CE marking and Declarat...

Page 14: ...anual is targeted at users who have a background in automation technology The manual consists of chapters Every chapter provides a self contained description of a specific topic The following guides are available in the manual n An overall table of contents at the beginning of the manual n References with page numbers The manual is available in n printed form on paper n in electronic form as PDF f...

Page 15: ...TRL is used internally for FC 10 FC SFC 200 AG_GET is used internally for FB SFB 14 FC SFC 201 AG_PUT is used internally for FB SFB 15 FC SFC 202 AG_BSEND is used internally for FB SFB 12 FC SFC 203 AG_BRCV is used internally for FB SFB 13 FC SFC 204 IP_CONF is used internally for FB 55 IP_CONF FC SFC 205 AG_SEND is used internally for FC 5 AG_SEND FC SFC 206 AG_RECV is used internally for FC 6 AG...

Page 16: ...alog of the block opens 3 Select Attributes 4 Deactivate the parameter Optimized block access 5 Confirm with OK More information can be found in the manual of the Siemens TIA Portal 2 4 Declaration types Please note that the spellings of the declaration types in Siemens STEP7 and TIA Portal differ This documentation uses the notation for Siemens STEP7 A comparison of the spellings can be found in ...

Page 17: ...uctions Ä 30 D Math instructions Ä 30 I Math instructions Ä 30 R Math instructions Ä 30 D Math instructions Ä 30 I Math instructions Ä 30 R Math instructions Ä 30 D Math instructions Ä 30 I Math instructions Ä 30 R Math instructions Ä 30 D Comparison instructions Ä 53 I Comparison instructions Ä 53 R Comparison instructions Ä 53 D Comparison instructions Ä 53 I Comparison instructions Ä 53 R Compa...

Page 18: ...Data type conversion instructions Ä 51 BE Block instructions Ä 35 BEC Block instructions Ä 35 BEU Block instructions Ä 35 BLD Block instructions Ä 35 CAD Transfer instructions Ä 47 CALL Block instructions Ä 35 CAR Transfer instructions Ä 47 CAR1 Transfer instructions Ä 47 CAR2 Transfer instructions Ä 47 CAW Transfer instructions Ä 47 CC Block instructions Ä 35 CD Counter instructions Ä 65 CDB Bloc...

Page 19: ...p instructions Ä 44 JMZ Jump instructions Ä 44 JN Jump instructions Ä 44 JNB Jump instructions Ä 44 JNBI Jump instructions Ä 44 JO Jump instructions Ä 44 JOS Jump instructions Ä 44 JP Jump instructions Ä 44 JPZ Jump instructions Ä 44 JU Jump instructions Ä 44 JUO Jump instructions Ä 44 JZ Jump instructions Ä 44 L Load instructions Ä 38 LAR1 Transfer instructions Ä 47 LAR2 Transfer instructions Ä 4...

Page 20: ...ructions Ä 51 RND Data type conversion instructions Ä 51 RND Data type conversion instructions Ä 51 RRD Shift instructions Ä 41 RRDA Shift instructions Ä 41 S Setting resetting bit addresses Ä 43 SA Timer instructions Ä 64 SAVE Setting resetting bit addresses Ä 43 SD Timer instructions Ä 64 SE Timer instructions Ä 64 SET Setting resetting bit addresses Ä 43 SIN Math instructions Ä 30 SLD Shift ins...

Page 21: ...n instructions Word Ä 63 3 2 Abbreviations Abbreviation Description FC First check bit 2 Binary constant a Byte address ACCU Register for processing bytes words and double words AR Address registers contain the area internal or area crossing addresses for the instructions addressed register indirect b Bit address B area crossing register indirect addressed byte B b1 b2 Constant 2byte B b1 b2 b3 b4...

Page 22: ... h Operand range I Input in the PII i Operand range i8 Integer 8bit i16 Integer 16bit i32 Integer 32bit IB Input byte in the PII ID Input double word in the PII IW Input word in the PII k8 Constant 8bit k16 Constant 16bit k32 Constant 32bit L Local data L Integer constant 32bit LABEL Symbolic jump address with max 4 characters These 4 charac ters can be composed of letters numbers and the undersco...

Page 23: ...ess PQB Periphery output byte direct periphery access PQD Periphery output double word direct periphery access PQW Periphery output word direct periphery access Q Output in the PIQ q Real number 32bit floating point number QB Output byte in the PIQ QD Output double word in the PIQ QW Output word in the PIQ r Block no RLO Result of previous logic instruction S5T S5 time constant 16bit loads the S5 ...

Page 24: ...d PED PID Periphery output byte PAB PQB Periphery output word PAW PQW Periphery output double word PAD PQD Combinations U A UN AN U A UN AN UW AW UD AD Time functions SI SP SV SE SE SD SA SF Counter functions ZV CU ZR CD Load and transfer TAR CAR TAW CAW TAD CAD Program control AUF OPN BEA BEU BEB BEC TDB CDB UW AW UD AD Jump functions SPA JU SPBB JCB SPBIN JNBI Comparison VIPA SPEED7 IL operation...

Page 25: ...ram is not executable at VIPA SPEED7 CPUs and Siemens S7 400 CPU 318 The CPUs of the Siemens S7 300 contain 2 ACCUs At an arithmetic operation the con tent of the 2nd ACCU is not altered Whereas the SPEED7 CPUs provide 4 ACCUs After an arithmetic operation I I I I D D D D MOD R R R R the content of ACCU 3 and ACCU 4 is loaded into ACCU 3 and 2 This may cause conflicts in applications that presume ...

Page 26: ... J001 jumps A M3 0 A M3 1 JO01 A M3 2 after jump the CPUs further combine At setting a timer or counter a valid BCD value must be present in ACCU 1 The proof of this BCD value is in the Siemens S7 300 only executed when timer or counter are taken over edge change The SPEED7 CPUs like the S7 400 from Siemens always execute the verification Examples RLO at jumps BCD consistency VIPA SPEED7 IL operat...

Page 27: ...t 15 Bit 16 bit 23 Bit 24 bit 31 The address registers contain the area internal or area crossing addresses for the reg ister indirect addressed instructions The address registers are 32bit wide The area internal or area crossing addresses have the following structure area internal address 00000000 00000bbb bbbbbbbb bbbbbxxx area crossing address 10000yyy 00000bbb bbbbbbbb bbbbbxxx Legend b Byte a...

Page 28: ... End Load ASCII code in ACCU1 L T 500ms Load time value in ACCU1 L C 100 Load time value in ACCU1 L B 100 12 Load constant as 2byte L B 100 12 50 8 Load constant as 4byte L P 10 0 Load area internal pointer in ACCU1 L P E20 6 Load area crossing pointer in ACCU1 L 2 5 Load real number in ACCU1 L D 1995 01 20 Load date L TOD 13 20 33 125 Load time of day Direct addressing A I 0 0 AND operation of in...

Page 29: ...t area crossing addressing For the area crossing register indirect addressing the address needs an additional range ID in the bits 24 26 The address is in the address register Range ID Binary code hex Area P 1000 0000 80 Periphery area I 1000 0001 81 Input area Q 1000 0010 82 Output area M 1000 0011 83 Bit memory area DB 1000 0100 84 Data area DI 1000 0101 85 Instance data area L 1000 0110 86 Loca...

Page 30: ... The result is in ACCU1 res ACCU1 L Com mand Operand Parameter Function Length in words I Add up two integers 16bit ACCU1 L ACCU1 L ACCU2 L 1 I Subtract two integers 16bit ACCU1 L ACCU2 L ACCU1 L 1 I Multiply two integers 16bit ACCU1 ACCU2 L ACCU1 L 1 I Divide two integers 16bit ACCU1 L ACCU2 L ACCU1 L The remainder is in ACCU1 H 1 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ...

Page 31: ...D Multiply two integers 32bit ACCU1 ACCU2 ACCU1 1 D Divide two integers 32bit ACCU1 ACCU2 ACCU1 1 MOD Divide two integers 32bit and load the rest of the divi sion in ACCU1 ACCU1 remainder of ACCU2 ACCU1 1 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü ü ü Fixed point arithmetic 32bit VIPA SPEED7 IL operations Math instructions HB00 OPL_SP7 Operation li...

Page 32: ...for R BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü ü ü Status word for NEGR ABS BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences The result of the instructions is in ACCU1 The instructions may be interrupted by alarms Com mand Operand Parameter Function Length in words SQRT Calculate the Square root of a real number in ACCU1 1 SQR For...

Page 33: ...Operand Parameter Function Length in words SIN1 Calculate the sine of the real number 1 ASIN2 Calculate the arcsine of the real number 1 COS1 Calculate the cosine of the real number 1 ACOS2 Calculate the arccosine of the real number 1 TAN1 Calculate the tangent of the real number 1 ATAN2 Calculate the arctangent of the real number 1 1 Specify the angle in radians the angle must be given as a float...

Page 34: ... address register The value is in the instruction or in ACCU1 L Condition code bits are not affected Com mand Operand Parameter Function Length in words AR1 Add the contents of ACCU1 L to AR1 1 AR1 m Add pointer constant to the contents of AR1 2 AR2 Add the contents of ACCU1 L to AR2 1 AR2 m Add pointer constant to the contents of AR2 2 Addition of constants Addition via address reg ister VIPA SPE...

Page 35: ...a parameters 1 2 CC FB q FC q Parameter 0 8191 Conditional call of blocks without parameter transfer FB FC call via parameters 1 2 OPN DB p DI p Parameter 0 8191 Open a data block Open a instance data block Open a data block via parameter 1 2 2 2 Status word for CALL UC BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences 0 0 1 0 Status word for CC BR CC1 CC0 OV OS OR STA R...

Page 36: ...ance data block and vice versa The condition code bits are not affected Com mand Operand Parameter Function Length in words CDB Exchange shared data block and instant data block 1 3 9 Program display and Null operation instructions The status word is not affected Com mand Operand Parameter Function Length in words BLD 0 255 Program display instruction is treated by the CPU like a null operation in...

Page 37: ...in the RLO The bit addressed in the instruction is the auxiliary edge bit memory 2 2 2 2 2 c AR1 m c AR2 m AR1 m AR2 m Parameter 2 2 2 2 2 FN I Q a b M a b L a b DBX a b DIX a b 0 0 2047 7 0 0 8191 7 parameterizable 0 0 65535 7 0 0 65535 7 Detecting the negative edge in the RLO The bit addressed in the instruction is the auxiliary edge bit memory 2 2 2 2 2 c AR1 m c AR2 m AR1 m AR2 m Parameter 2 2...

Page 38: ...al AR2 area crossing AR1 area crossing AR2 via parameters 2 2 2 2 2 L Load IW a QW a PIW a 0 0 2046 0 0 2046 0 0 8190 input word output word periphery input word 1 2 1 2 2 MW a LW a DBW a DIW a 0 0 8190 parameterizable 0 0 65534 0 0 65534 bit memory word local data word data word instance data word 1 2 2 1 2 1 2 in ACCU1 L h AR1 m h AR2 m W AR1 m W AR2 m Parameter register indirect area internal A...

Page 39: ...6bit binary constant in ACCU1 L Load 32bit binary constant in ACCU1 2 3 L B 8 p W 16 p DW 16 p Load 8bit hexadecimal constant in ACCU1 LL Load 16bit hexadecimal constant in ACCU1 L Load 32bit hexadecimal constant in ACCU1 1 2 3 L x Load one character L xx Load two characters 2 L xxx Load three characters L xxxx Load four characters 3 L D Date Load IEC date BCD coded 3 L S5T time value Load time co...

Page 40: ...eters 1 2 2 L Z f Counter para 0 511 Load counter value Load counter value addressed via parameters 1 2 2 LC T f Timer para 0 511 Load time value BCD coded Load time value BCD coded addressed via parameters 1 2 2 LC Z f Counter para 0 511 Load counter value BCD coded Load counter value BCD coded addressed via parameters 1 2 2 Load instructions for timer and counter VIPA SPEED7 IL operations Load i...

Page 41: ...the contents of ACCU1 to the left Positions that become free are provided with zeros 1 SRW SRW 0 15 Shift the contents of ACCU1 L to the right Positions that become free are provided with zeros 1 SRD SRD 0 32 Shift the contents of ACCU1 to the right Positions that become free are provided with zeros 1 SSI SSI 0 15 Shift the contents of ACCU1 L to the right with sign Positions that become free are ...

Page 42: ...ents of ACCU1 to the right 1 RLDA Rotate the contents of ACCU1 one bit position to the left via CC1 bit RRDA Rotate the contents of ACCU1 one bit position to the right via CC1 bit Status word for RLD RRD BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü ü Status word for RLDA RRDA BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü 0 0 Rota...

Page 43: ... 0 65535 7 0 0 65535 7 input output to 0 set bit memory to 0 local data bit to 0 data bit to 0 instance data bit to 0 1 2 1 2 2 2 2 c AR1 m c AR2 m AR1 m AR2 m Parameter register indirect area internal AR1 register indirect area internal AR2 area crossing AR1 area crossing AR2 via parameters 2 2 2 2 2 Assign I Q a b M a b L a b DBX a b DIX a b 0 0 2047 7 0 0 8191 7 parameterizable 0 0 65535 7 0 0 ...

Page 44: ...influences 0 1 1 0 Status word for NOT BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü Instruction influences 1 ü Status word for SAVE BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü Instruction influences ü 3 14 Jump instructions The jump label is a symbolic jump address with max 4 characters These 4 characters can be composed of letters numbers and the underscore _ where the 1 ...

Page 45: ...0 and CC0 0 1 2 JP LABEL Jump if result 0 CC1 1 and CC0 0 1 2 JM LABEL Jump if result 0 CC1 0 and CC0 1 1 2 JN LABEL Jump if result 0 CC1 1 and CC0 0 or CC1 0 and CC0 1 1 2 JMZ LABEL Jump if result 0 CC1 0 and CC0 1 or CC1 0 and CC0 0 2 JPZ LABEL Jump if result 0 CC1 1 and CC0 0 or CC1 0 and CC0 0 2 JL LABEL Jump distributor This instruction is followed by a list of jump instructions The operand i...

Page 46: ... STA RLO FC Instruction depends on ü Instruction influences 0 1 0 Status word for JO BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü Instruction influences Status word for JOS BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü Instruction influences 0 Status word for JUO JZ JP JM JN JMZ JPZ BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü Instruction influences VIPA SPEED7 IL...

Page 47: ...rect area internal AR1 register indirect area internal AR2 area crossing AR1 area crossing AR2 via parameters 2 2 2 2 2 T Transfer the contents of ACCU1 L to IW QW PQW MW LW DBW DIW 0 0 2046 0 0 2046 0 0 8190 0 0 8190 parameterizable 0 0 65534 0 0 65534 input word output word periphery output word bit memory word local data word data word instance data word 1 2 1 2 1 2 1 2 2 2 2 h AR1 m h AR2 m W ...

Page 48: ...y output double word bit memory double word local data double word data double word instance data double word 1 2 1 2 1 2 1 2 2 2 2 i AR1 m i AR2 m D AR1 m D AR2 m Parameter register indirect area internal AR1 register indirect area internal AR2 area crossing AR1 area crossing AR2 via parameters 2 2 2 2 2 VIPA SPEED7 IL operations Transfer instructions HB00 OPL_SP7 Operation list en 18 30 48 ...

Page 49: ...onstant as pointer 3 LD a parameterizable local data double word 2 MD a 0 8188 bit memory double word 2 into AR2 TAR1 Transfer the contents from AR1 to ACCU1 1 AR2 address register 2 1 DBD a 0 65532 data double word 2 DID a 0 65532 instance data double word 2 LD a parameterizable local data double word 2 MD a 0 8188 bit memory double word 2 TAR2 Transfer the contents from AR2 to ACCU1 1 DBD a 0 65...

Page 50: ... ü ü Load the number length of a data block to ACCU1 The old contents of ACCU1 are saved into ACCU2 The condition code bits are not affected Com mand Operand Parameter Function Length in words L DBNO Load number of data block 1 L DINO Load number of instance data block 1 L DBLG Load length of data block into byte 1 L DILG Load length of instance data block into byte 1 Load and transfer instruc tio...

Page 51: ... DEC 0 255 Decrement ACCU1 LL 1 3 16 Data type conversion instructions The results of the conversion are in ACCU1 When converting real numbers the execu tion time depends on the value Com mand Operand Parameter Function Length in words BTI Convert contents of ACCU1 from BCD to integer 16bit BCD to Int 1 BTD Convert contents of ACCU1 from BCD to integer 32bit BCD to Doubleint 1 DTR Convert cont of ...

Page 52: ...point are truncated 1 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü Com mand Operand Parameter Function Length in words INVI Forms the ones complement of ACCU1 L 1 INVD Forms the ones complement of ACCU1 1 NEGI Forms the twos complement of ACCU1 L integer 1 NEGD Forms the twos complement of ACCU1 double integer 1 Status word for INVI INVD BR CC1 CC0 O...

Page 53: ...s on Instruction influences ü ü 0 0 ü ü 1 Comparing the integer 32bit in ACCU1 and ACCU2 RLO 1 if condition is satisfied Com mand Operand Parameter Function Length in words D ACCU2 ACCU1 1 D ACCU2 different to ACCU1 1 D ACCU2 ACCU1 1 D ACCU2 ACCU1 1 D ACCU2 ACCU1 1 D ACCU2 ACCU1 1 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü 0 0 ü ü 1 Comparison inst...

Page 54: ...meter Function Length in words R ACCU2 ACCU1 1 R ACCU2 different to ACCU1 1 R ACCU2 ACCU1 1 R ACCU2 ACCU1 1 R ACCU2 ACCU1 1 R ACCU2 ACCU1 1 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü ü ü ü 0 ü ü 1 Comparison instructions with 32bit real number VIPA SPEED7 IL operations Comparison instructions HB00 OPL_SP7 Operation list en 18 30 54 ...

Page 55: ...ameters 2 AN AND operation of signal state 0 I Q a b 0 0 2047 7 Input output 1 2 M a b 0 0 8191 7 Bit memory 1 2 L a b parameterizable Local data bit 2 DBX a b 0 0 65535 7 Data bit 2 DIX a b 0 0 65535 7 Instance data bit 2 c AR1 m register indirect area internal AR1 2 c AR2 m register indirect area internal AR2 2 AR1 m area crossing AR1 2 AR2 m area crossing AR2 2 Parameter via parameters 2 Status...

Page 56: ...state 0 I Q a b 0 0 2047 7 Input output 1 2 M a b 0 0 8191 7 Bit memory 1 2 L a b parameterizable Local data bit 2 DBX a b 0 0 65535 7 Data bit 2 DIX a b 0 0 65535 7 Instance data bit 2 c AR1 m register indirect area internal AR1 2 c AR2 m register indirect area internal AR2 2 AR1 m area crossing AR1 2 AR2 m area crossing AR2 2 Parameter via parameters 2 Status word for O ON BR CC1 CC0 OV OS OR ST...

Page 57: ...ameter via parameters 2 XN EXCLUSIVE OR operation at signal state 0 I Q a b 0 0 2047 7 Input output 1 2 M a b 0 0 8191 7 Bit memory 1 2 L a b parameterizable Local data bit 2 DBX a b 0 0 65535 7 Data bit 2 DIX a b 0 0 65535 7 Instance data bit 2 c AR1 m register indirect area internal AR1 2 c AR2 m register indirect area internal AR2 2 AR1 m area crossing AR1 2 AR2 m area crossing AR2 2 Parameter ...

Page 58: ...O ON X XN BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü ü Instruction influences 0 1 0 Status word for BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü Instruction influences ü ü 1 ü 1 The ORing of AND operations is implemented according the rule AND before OR Com mand Operand Parameter Function Length in words O OR operations of AND functions according the rule AND before OR ...

Page 59: ...us word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü Instruction influences ü ü ü 1 Com mand Operand Parameter Function Length in words O OR operation at signal state T f 0 511 Timer 1 2 C f 0 511 Counter 1 2 Timer para Timer addressed via parameters 2 Counter para Counter addressed via parameters 2 ON OR operation at signal state T f 0 511 Timer 1 2 C f 0 511 Counter 1 2 Timer para...

Page 60: ...r addressed via parameters 2 XN EXCLUSIVE OR operation at signal state T f 0 511 Timer 1 2 C f 0 511 Counter 1 2 Timer para Timer addressed via parameters 2 Counter para Counter addressed via parameters 2 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü Instruction influences 0 ü ü 1 VIPA SPEED7 IL operations Combination instructions Bit HB00 OPL_SP7 Operation list en 18 30 60...

Page 61: ...CC1 0 and CC0 1 or CC1 1 and CC0 0 1 0 Result 0 CC1 0 and CC0 1 or CC1 0 and CC0 0 1 0 Result 0 CC1 1 and CC0 0 or CC1 1 and CC0 0 1 UO unordered CC1 1 and CC0 1 1 OS OS 1 1 BR BR 1 1 OV OV 1 1 Status word for A BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü ü ü ü ü ü Instruction influences ü ü ü 1 Status word for O X BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü ü ü ü ü...

Page 62: ...0 CC1 0 and CC0 1 or CC1 0 and CC0 0 1 0 Result 0 CC1 1 and CC0 0 or CC1 1 and CC0 0 1 UO unordered CC1 1 and CC0 1 1 OS OS 0 1 BR BR 0 1 OV OV 0 1 Status word for AN BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü ü ü ü ü ü Instruction influences ü ü ü 1 Status word for ON XN BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü ü ü ü ü ü ü Instruction influences ü ü 1 VIPA SPEED7 I...

Page 63: ...2 L 1 AW AND 16bit constant 2 OW k16 OR ACCU2 L 1 OW OR 16bit constant 2 XOW k16 EXCLUSIVE OR ACCU2 L 1 XOW EXCLUSIVE OR 16bit constant 2 AD k32 AND ACCU2 1 AD AND 32bit constant 3 OD k32 OR ACCU2 1 OD OR 32bit constant 3 XOD k32 EXCLUSIVE OR ACCU2 1 XOD EXCLUSIVE OR 32bit constant 3 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on Instruction influences ü 0 0 Combination instruct...

Page 64: ...N delay on edge change from 0 to 1 1 2 Timer para 2 SS T f 0 511 Start timer as saving start delay on edge change from 0 to 1 1 2 Timer para 2 SA T f 0 511 Start timer as OFF delay on edge change from 1 to 0 1 2 Timer para 2 FR T f 0 511 Enable timer for restarting on edge change from 0 to 1 reset edge bit memory for starting timer 1 2 Timer para 2 R T f 0 511 Reset timer 1 2 Timer para 2 Status w...

Page 65: ... 1 1 2 Counterpara 2 CU C f 0 511 Increment counter by 1 on edge change from 0 to 1 1 2 Counterpara 2 CD C f 0 511 Decrement counter by 1 on edge change from 0 to 1 1 2 Counter para 2 FR C f 0 511 Enable counter on edge change from 0 to 1 reset the edge bit memory for up and down counting 1 2 Counter para 2 Status word BR CC1 CC0 OV OS OR STA RLO FC Instruction depends on ü Instruction influences ...

Page 66: ... ated when assigning the HW identifier Here Name has a hierarchical structure with a maximum of 4 hierarchical levels with each level separated by a The name of the component of the corresponding hierarchy level can be changed at any time via the prop erties n When creating your user program you can assign the corresponding hardware com ponent from a list of all possible hardware components by dou...

Page 67: ...formation No spe cific error information is available The general error code contains error information that can result from any system func tion The general error code consists of the following two numbers n A parameter number between 1 and 111 where 1 indicates the first parameter of the SFC that was called 2 the second etc n An event number between 0 and 127 The event number indicates that a sy...

Page 68: ...ce to parameter x consists of an operand with a bit address that is not equal to 0 8x30h The parameter is located in the write protected global DB 8x31h The parameter is located in the write protected instance DB This error code indicates that parameter x is located in a write protected data block If the data block was opened by the system function itself then the system function will always retur...

Page 69: ...ens SIMATIC Manager The integration into the Siemens SIMATIC Manager requires the following steps 1 Load ZIP file 2 Retrieve the library 3 Open library and transfer blocks into the project Navigate on the web page to the desired ZIP file load and store it in your work directory 1 Start the Siemens SIMATIC Manager with your project 2 Open the dialog window for ZIP file selection via File è Retrieve...

Page 70: ...t the Siemens TIA Portal with your project 2 Switch to the Project view 3 Choose Libraries from the task cards on the right side 4 Click at Global libraries 5 Click at Open global libraries 6 Navigate to your work directory and load the file _TIA al1x 7 Copy the necessary blocks from the library into the Program blocks of the Project tree of your project Now you have access to the VIPA specific bl...

Page 71: ...s By means of the Siemens SIMATIC manager the recent cycle time of an online connected CPU may be shown With PLC Module Information Scan cycle time the min max and recent cycle time can be displayed The CPU offers a scan cycle watchdog for the max cycle time The default value for the max cycle time is 150ms as scan cycle monitoring time This value can be reconfigured or restarted by means of the S...

Page 72: ...s all not latching data in the system memory calls Startup OB and then executes the main program in OB 1 Here the current program and the current data blocks gener ated by SFC remain in memory A distinction is made between the following types of startup n OB 100 Complete restart n OB 102 Cold restart The CPU executes a startup as follows n after PowerON and operating switch in RUN n whenever you s...

Page 73: ...on xxxx xxx1 Difference between expected and actual configuration xxxx 0xxx Clock for time stamp not battery backed at last PowerON xxxx 1xxx Clock for time stamp battery backed at last PowerON 23 16 Startup just com pleted 0000 0011 Restart triggered with mode selector 0000 0100 Restart triggered by command via MPI 0000 0111 Cold restart triggered with mode selector 0000 1000 Cold restart trigger...

Page 74: ...ector last PowerON not battery backed 0010 0100 Restart triggered by command via MPI last PowerON not battery backed 6 4 Communication Interrupts 6 4 1 OB 55 DP Status Alarm Status Interrupt A status interrupt OB OB 55 is only available for DP V1 capable CPUs The CPU operating system calls OB 55 if a status interrupt was triggered via the slot of a DP V1 slave This might be the case if a component...

Page 75: ...4 2 22 SFB 54 RALRM Receiving an interrupt from a periphery module page 777 6 4 2 OB 56 DP Update Alarm Update Interrupt A update interrupt OB OB 56 is only available for DP V1 capable CPUs The CPU operating system calls OB 56 if an update interrupt was triggered via the slot of a DP V1 slave This can be the case if you have changed the parameters for the slot of a DP V1 slave For precise informat...

Page 76: ... 1 0 Interrupt specifier n Bit 2 Add_Ack n Bit 7 3 Seq number OB56_DATE_TIME DATE_AND_TIME Date and time of day when the OB was called You can obtain the full additional information on the interrupt from the frame by calling SFB 54 RALRM in OB 56 Ä Chap 14 2 22 SFB 54 RALRM Receiving an interrupt from a periphery module page 777 6 4 3 OB 57 DP Manufacture Alarm Manufacturer Specific Interrupt The ...

Page 77: ...elay timer independently of the standard timers The time delay interrupts can be configured within the hardware configu ration respectively controlled by means of system functions in your main program at run time For the activation no hardware configuration is necessary The time delay interrupt is started by calling SFC 32 SRT_DINT and by transferring the corresponding OB to the CPU Here the funct...

Page 78: ...B20_DATE_TIME DATE_AND_TIME Date and time of day when the OB was called Information to access the local data can be found at the description of the OB 1 6 6 Time of day Interrupts 6 6 1 OB 10 OB 11 TOD_INTx Time of day Interrupt Time of day interrupts are used when you want to run a program at a particular time either once only or periodically Time of day interrupts can be configured within the ha...

Page 79: ... 85 If OB 85 was not programmed the CPU goes to STOP Is there an error at time of day interrupt processing e g start time has already passed the time error OB 80 is called The time of day interrupt OB is then executed precisely once The possibilities of activation of time of day interrupts is shown at the following table Interval Description Not activated The time of day interrupt is not executed ...

Page 80: ...local data can be found at the description of the OB 1 6 7 Cyclic Interrupts 6 7 1 OB 28 29 32 33 34 35 CYC_INTx Cyclic Interrupt By means of a cyclic interrupt the cyclical processing can be interrupted in equidistant time intervals The start time of the time interval and the phase offset is the instant of tran sition from STARTUP to RUN after execution of OB 100 Watchdog OB Default time interval...

Page 81: ... 29 and priority may be parameterized by the hardware configurator Depending on the OB there are the following possibilities for parameterization OB 28 29 33 Parameterizable as VIPA specific parameter by the proper ties of the CPU OB 32 35 Parameterizable by Siemens CPU 318 2DP You must make sure that the run time of each cyclic interrupt OB is signif icantly shorter than its interval The cyclic i...

Page 82: ...r rupt handling routine Here OB 40 and OB 41 can be used Within the configuration you specify for each module which channels release a hardware interrupt during which condi tions With the system functions SFC 55 WR_PARM SFC 56 WR_DPARM and SFC 57 PARM_MOD you can re parameterize the modules with hardware interrupt capability even in RUN Ä Chap 14 1 43 SFC 55 WR_PARM Write dynamic parameter page 69...

Page 83: ...rdware interrupt is triggered and its OB is currently active due to a hardware interrupt from another module the new request can be processed only if it is still active after acknowledgement During STARTUP there is no hardware interrupt produced The treatment of interrupts starts with the transition to operating mode RUN Hardware interrupts during transition to RUN are lost If a hardware interrupt...

Page 84: ...ATE_AND_TIME Date and time of day when the OB was called Information to access the local data can be found at the description of the OB 1 6 9 Asynchronous error Interrupts 6 9 1 OB 80 CYCL_FLT Time Error The operating system of the CPU calls OB 80 whenever an error occurs like n Cycle monitoring time exceeded n OB request error i e the requested OB is still executed or an OB was requested too freq...

Page 85: ...was called Information to access the local data can be found at the description of the OB 1 The variables dependent on the error code have the following allocation Error code Variable Bit Description 01h Cycle time exceeded OB80_ERROR_INFO Run time of last scan cycle ms OB80_ERR_EV_CLASS Class of the event that triggered the interrupt OB80_ERR_EV_NUM Number of the event that triggered the inter ru...

Page 86: ...f there are more OB start requests for a priority class than the max imum permitted number of entries in the cor responding Ob request buffer OB 80 will be called with error code 07h 08h Synchronous cycle interrupt time error 09h Interrupt loss due to high interrupt load 0Ah OB80_ERROR_INFO Resume RUN after CiR Configuration in RUN CiR synchronizations time in ms 6 9 2 OB 81 PS_FLT Power Supply Er...

Page 87: ...nt The operating system then calls OB 82 n The local variables of OB 82 contain the logical base address as well as four bytes of diagnostic data of the faulty module n If OB 82 has not been programmed the CPU changes to the STOP mode You can delay the diagnostic interrupt OB with SFC 41 DIS_AIRT or disable the delay with SFC 42 EN_AIRT All diagnostic events reported to the CPU operating system ar...

Page 88: ...ormation to access the local data can be found at the description of the OB 1 The fol lowing table describes the start information of the OB 82 with default names of the varia bles and its data types Variable Data type Description OB82_EV_CLASS BYTE Event class and identifiers 38h outgoing event 39h incoming event OB82_FLT_ID BYTE Error code 42h OB82_PRIORITY BYTE Priority class can be assigned vi...

Page 89: ...ns n after insertion removal of a configured module n after modifications of module parameters and download of changes to the CPU during RUN If you have not programmed OB 83 the CPU changes to STOP mode You can disable delay enable the insert remove interrupt OB with the help of SFCs 39 to 42 Each time a configured module is removed or inserted during the RUN STOP and STARTUP modes an insert remov...

Page 90: ... are reassigned after OB 83 was executed 3 OB 83 will be restarted after the parameters have been assigned n Start event 3267h provided this parameter assignment was successful or n 3968h if failed The modules I O data response is identical to their response after an insertion inter rupt that is currently they may be incorrect You can now call SFCs again to send data records to the module The foll...

Page 91: ...mber bits 0 10 OB83_MDL_TYPE WORD n Central or distributed PROFIBUS DP Module type of affected module x irrelevant to the user x5xxh analog module x8xxh function module xCxxh CP xFxxh digital module 8340h Replacement type identifier for input module 9340h Replacement type identifier for output module A340h Replacement type identifier for mixed module I O F340h Replacement type identifier for uniqu...

Page 92: ...dule responds again load voltage error corrected 33h 67h Start of module reconfiguration 32h 67h End of module reconfiguration 39h 68h Module reconfiguration terminated with error If you are using a DP V1 or PROFINET capable CPU you can obtain additional information on the interrupt with the help of SFB 54 RALRM which exceeds the start information of the OB 6 9 5 OB 85 OBNL_FLT Priority Class Erro...

Page 93: ...e error OB85_OB_PRIOR BYTE Priority class of the OB that was active when the error occurred OB85_OB_NUM BYTE Number of the OB that was active when the error occurred OB85_DATE_TIME DATE_AND_TIME Date and time of day when the OB was called Information to access the local data can be found at the description of the OB 1 If you want to program OB 85 dependent on the possible error codes we recommend ...

Page 94: ... error resolution 1 block not loaded 2 area length error 3 write protect error OB85_Z23 high word block number low word Relative address of the MC7 command causing the error The block type must be taken from OB85_DKZ23 88h OB 8Ch FC 8Eh FB 8Ah DB 35h A4h PROFINET DB cannot be addressed 34h A4h PROFINET DB can be addressed again 39h B1h I O access error when updating the process image of the inputs...

Page 95: ...he type of process image transfer during which the I O access error has occurred 10h Byte access 20h Word access 30h DWord access 57h Transmitting a configured consistency range B3h B4h OB85_Z1 Reserved for internal use by the CPU logical base address of the module If OB85_RESERVED_2 has the value 76h OB85_Z1 receives the return value of the affected SFC B3h B4h OB85_Z23 Byte 0 Part process image ...

Page 96: ...RITY BYTE Priority class may be assigned via hardware configuration OB86_OB_NUMBR BYTE OB number 86 OB86_RESERVED_1 BYTE reserved OB86_RESERVED_2 BYTE reserved OB86_MDL_ADDR WORD Depends on the error code OB86_RACKS_FLTD ARRAY 0 31 OF BOOL Depends on the error code OB86_DATE_TIME DATE_AND_TIME Date and time of day when the OB was called Information to access the local data can be found at the desc...

Page 97: ...but error in module parameter assignment OB86_MDL_ADDR Logical base address of the DP master OB86_Z23 Address of the DP slaves affected Bit 7 0 Number of the DP station Bit 15 8 DP master system ID Bit 30 16 Logical base address of the DP slave Bit 31 I O identifier C8h Return of a DP station however discrepancy in configured and actual configuration OB86_MDL_ADDR Logical base address of the DP ma...

Page 98: ... OB121_EV_CLASS BYTE Event class and identifiers 25h OB121_SW_FLT BYTE Error code OB121_PRIORITY BYTE Priority class priority class of the OB in which the error occurred OB121_OB_NUMBR BYTE OB number 121 OB121_BLK_TYPE BYTE Type of block where the error occurred 88h OB 8Ah DB 8Ch FC 8Eh FB OB121_RESEVED_1 BYTE reserved Data area and access type OB121_FLT_REG WORD Source of the error depends on err...

Page 99: ...4 global DB 5 instance DB 6 own local data 7 local data of caller Bit 7 4 access type 0 bit access 1 byte access 2 word access 3 double word access 24h OB121_FLT_REG Range error when reading 25h Range error when writing Contains the ID of the illegal area in the low byte 86h of own local data area 26h OB121_FLT_REG Error for timer number 27h Error for counter number Illegal number 30h OB121_FLT_RE...

Page 100: ...the STOP mode OB 122 is executed in the same priority class as the interrupted block So you have read write access to the registers of the interrupted block The CPU provides the following SFCs for masking and unmasking start events for OB 122 n SFC 36 MASK_FLT masks specific error codes n SFC 37 DMASK_FLT unmasks the error codes that were masked by SFC 36 n SFC 38 READ_ERR reads the error register...

Page 101: ...2_MEM_ADDR WORD Memory address where the error occurred OB122_BLK_NUM WORD No valid number is entered here OB122_PGR_ADDR WORD No valid number is entered here OB122_DATE_TIME DATE_AND_TIME Date and time of day when the OB was called Information to access the local data can be found at the description of the OB 1 VIPA SPEED7 Organization Blocks Synchronous Interrupts OB 122 MOD_ERR Periphery access...

Page 102: ...B 45 LAMP Controlling a lamp or socket FB 46 BLIND Controlling blind FB 47 DSTRIKE Controlling an electric door opener FB 48 ACONTROL Access control FB 49 KEYPAD Requesting a keypad with external power supply FB 50 KEYPAD2 Requesting a keypad without external power supply 7 1 1 Call example instance DB CALL Ceiling lamp DB 1 ON M20 0 OFF 20 1 ONOFF 20 2 Duration T 5M Output M20 3 PulseOn PulseOff ...

Page 103: ...n the static output Output is set It remains set until you reset it with an edge change 0 1 at OnOff respectively Off or the time of Duration has expired n When controlling a bistable relay 2 outputs are used Here PulseOn controls the switch on and PulseOff the switch off procedure With TimePulse the pulse duration and with TimePause the switch time of the two outputs can be specified Parameters P...

Page 104: ...tively CentralUp CentralDown CentralUp CentralDown Used for central control of all blinds in a building Up Down Used for local control of a blind Here a pending CentralUp Central Down signal is ignored n If the corresponding button is pressed longer as the specified TimeShortLong the blend drive moves to the respective end position By pressing on of the two buttons Up Down respectively CentralUp C...

Page 105: ...tion Default FALSE CentralDown INPUT BOOL With an edge change 0 1 the output BlindDown is activated Here the blind moves to the lowest limit position Default FALSE TimeMaxDuration INPUT TIME Maximum drive time to reach the respective end position Default 30s TimePause INPUT TIME Break between a direction change Default 2s TimeShortLong INPUT TIME Time for the distinction between jog mode and conti...

Page 106: ...lectric door opener is disabled Parameters Parameter Declaration Data type Description Open INPUT BOOL With an edge change 0 1 Output is activated for the duration of TimeOpening Default FALSE EnableAlwaysOpen INPUT BOOL With an edge change 0 1 Output is static set Default FALSE DisableAlwaysOpen INPUT BOOL With an edge change 0 1 Output is static reset Default FALSE TimeOpening INPUT TIME Time fo...

Page 107: ...n edge change 0 1 of CentralUnlock all the access codes are enabled and the output CentralLocked is reset Parameter Declaration Data type Description AccessCode1 INPUT STRING 16 Access code e g from keypad CheckCode1 INPUT BOOL With an edge change 0 1 the AccessCode1 is compared with the access code in the data block ACLBlock Default 0 AccessCode2 INPUT STRING 16 Access code e g from panel CheckCo...

Page 108: ...OOL n Access TRUE locked access not possible FALSE not locked access possible Default TRUE TimePulse CONSTANT Time Time for the pulse duration at an output Default 3s TimeError CONSTANT Time Time for the duration of the error signal Default 500ms 7 3 2 UDT 3 ACLREC Data structure for FB 48 Address Name Type Start value Comment 0 0 STRUCT 0 0 Code STRING 16 Byte 0 17 Access code S7String with max 1...

Page 109: ...tructure for FB 48 page 108 324 0 BOOL CAUTION A code must only occur 1 x in the whole list Duplicate Codes are not allowed 7 3 4 FB 49 KEYPAD Keyboard This block is used to connect an external keypad 0 9 with external DC 24V power supply Depending on the pressed key the keyboard provides the row and column signals 24V The block evaluates the signals internally by means of a bit pattern table and ...

Page 110: ... n Error is activated for the time TimeError when a key is pressed but the keyboard buffer is full n With TimeDebounce you can specify a debounce time for the input signals Parameters Parameter Declaration Data type Description Row1 INPUT BOOL Row 1 of the keyboard matrix Default FALSE Row2 INPUT BOOL Row 2 of the keyboard matrix Default FALSE Row3 INPUT BOOL Row 3 of the keyboard matrix Default F...

Page 111: ...eyboard buffer is full TimeDebounce CONSTANT TIME Time for debounce of the inputs Default 100ms TimeError CONSTANT TIME Time for the duration of the error signal Default 500ms 7 3 5 FB 50 KEYPAD2 Keyboard This block is used to connect an external keypad 0 9 without an own power supply The block provides output column signals Depending on the pressed key the keyboard provides the according row sign...

Page 112: ...meError when a key is pressed but the keyboard buffer is full n With TimeDebounce you can specify a debounce time for the input signals Parameters Parameter Declaration Data type Description Row1 INPUT BOOL Row 1 of the keyboard matrix Default FALSE Row2 INPUT BOOL Row 2 of the keyboard matrix Default FALSE Row3 INPUT BOOL Row 3 of the keyboard matrix Default FALSE Row4 INPUT BOOL Row 4 of the key...

Page 113: ...atrix Default FALSE Output OUTPUT BYTE Contents of the keyboard buffer as max 16 byte string Valid OUTPUT BOOL The static output indicates that the string at Output is valid The signal is pending for one cycle Error OUTPUT BOOL Error is activated for the time TimeError when a key is pressed but the keyboard buffer is full TimeDebounce CONSTANT TIME Time for debounce of the inputs Default 100ms Tim...

Page 114: ... sending and receiving station n If the number of received data does not fit to the preset length you either will get not the whole data or you will get data of the following job n The receive block copies as many bytes into the receive area as you have specified as length After this it will set NDR to TRUE and write RCVD_LEN with the value of LEN With each additional call you will thus receive an...

Page 115: ...88h 8 1 3 FB 63 TSEND Sending data TCP native and ISO on TCP n FB 63 TSEND Sends data over an editing communications connection FB 63 TSEND is an asynchronously functioning FB which means that its processing extends over several FB calls n To start sending data call FB 63 with REQ 1 n The job status is indicated at the output parameters BUSY and STATUS STATUS corresponds to the RET_VAL output para...

Page 116: ...ype 12h and no CP is being used DONE OUTPUT BOOL I Q M D L DONE status parameter n 0 Job not yet started or still running n 1 Job executed without error BUSY OUTPUT BOOL I Q M D L n BUSY 1 Job is not yet completed A new job cannot be triggered n BUSY 0 Job is completed ERROR OUTPUT BOOL I Q M D L ERROR status parameter n ERROR 1 Error occurred during pro cessing STATUS provides detailed infor mati...

Page 117: ...alized 1 80B3h The parameter for the connection type connection_type parameter in the connection description is set to UDP Please use the FB 67 TUSEND 1 80C3h The resources memory of the CPU are temporarily occupied 1 80C4h Temporary communications error n The connection to the communications partner cannot be established at this time n The interface is receiving new parameters 1 8822h DATA parame...

Page 118: ...th x is specified in the ANY pointer of the receive buffer DATA param eter After being received a data block is immediately avail able in the receive buffer The amount of data received RCVD_LEN parameter can be no greater than the size speci fied in the DATA parameter Receiving is indicated by NDR 1 are stored in the receive buffer The data are avail able as soon as the config ured length is reach...

Page 119: ...when the NDR parameter assumes the value TRUE Parameters Parameter Declaration Data type Memory area Description EN_R INPUT BOOL I Q M D L With EN_R 1 FB 64 TRCV is ready to receive Control parameter The receive job is pro cessed ID INPUT WORD M D constant Reference to the connection to be terminated ID must be identical to the associated parameter id in the local connection description Range of v...

Page 120: ... DATE_AND_TIME STRING Status information ERROR STATUS Description 0 0000h New data were accepted The current length of the received data is shown in RCVD_LEN 0 7000h First call with REQ 0 receiving not initiated 0 7001h Block is ready to receive Receiving job has been activated 0 7002h Follow on call job being processed Note during this processing the operating system writes the operating system d...

Page 121: ...C4h Temporary communications error The connection is currently being terminated 1 8922h DATA parameter Target area invalid area does not exist in DB 1 8924h DATA parameter Range error in ANY pointer 1 8932h DATA parameter DB number too large 1 893Ah DATA parameter Access to receive buffer not possible e g due to deleted DB 1 897Fh DATA parameter Internal error such as an invalid ANY reference 1 8F...

Page 122: ...ndicated at the output parameters RET_VAL and BUSY STATUS corresponds to the RET_VAL output parameter of asynchronously functioning SFCs see also Meaning of the Parameters REQ RET_VAL and BUSY with asynchronous SFCs The following table shows the relationships between BUSY DONE and ERROR Using this table you can determine the current status of FB 65 or when the establishment of the connection is co...

Page 123: ...ta structure for assigning connection UDT 65 1 809Bh The communication interface specified via local_device_id and next_staddr is not sup ported by the CPU 1 80A1h Connection or port is already occupied by the user 1 80A2h Local or remote port is occupied by the system 1 80A3h Attempt being made to re establish an existing connection 1 80A4h IP address of the remote connection endpoint is invalid ...

Page 124: ... through the commu nication partner performs a passive connection If both communication partners have launched their connection the operating system can restore the communication link To communicate a DB is needed Facility whereby the DB s data structure from the UDT 65 TCON_PAR For each connection such a data structure is needed that can be summar ized in a global DB The CONNECT connection parame...

Page 125: ...d possible values TCP n Active side 0 dynamic port or 2 n Passive side 2 ISO on TCP n 2 16 UDP n 2 TCP n Active side 0 n Passive side 2 8 rem_subnet_id_len BYTE 00h This parameter is currently not used You must assign 00h to it 9 rem_staddr_len BYTE 00h Length of address for the remote connection transmission point TCP ISO on TCP TCP Comp n 0 unspecified i e parameter rem_staddr is irrelevant 4 va...

Page 126: ...exadecimal representation n local_tsap_id 2 low byte of port number in hexadecimal representation n local_tsap_id 3 16 00h ISO on TCP n local TSAP ID possible values 2000 5000 local_tsap_id 1 E0h connection type T connection local_tsap_id 2 Rack and slot in own CPU bits 0 4 slot bits 5 7 rack number local_tsap_id 3 16 TSAP extension TCP Comp n local_tsap_id 1 low byte of port number in hexadecimal...

Page 127: ...e of port no in hexadecimal representation rem_tsap_id 3 16 00h n ISO on TCP remote TSAP ID rem_tsap_id 1 E0h connection type T connection rem_tsap_id 2 Rack and slot for the remote connection transmission point CPU bits 0 4 slot bits 5 7 rack number rem_tsap_id 3 16 TSAP extension n UDP This parameter is not used Assign parameter to 00h n 01h remote port number possible values 2000 5000 local_tsa...

Page 128: ...s 0001h 0FFFh n You must specify the value of the parameter in the respective block with the ID 4 connection_type BYTE 01h Connection type n 13h UDP 5 active_est BOOL FALSE ID for the way the connection is established You must assign FALSE to this parameter since the communications access point can be used to both send and receive data 6 local_device_id BYTE 02h Communication device n 00h Ethernet...

Page 129: ...point The connection between the user program and the communications level of the operating system is termi nated FB 66 TDISCON is an asynchronously functioning FB which means that its processing extends over several FB calls To start terminating a connection call FB 66 with REQ 1 After FB 66 TDISCON has been successfully called the ID specified for FB 65 TCON is no longer valid and thus cannot be...

Page 130: ... 1 Job is not yet completed n BUSY 0 Job is completed ERROR OUTPUT BOOL I Q M D L ERROR status parameter n ERROR 1 Error occurred during processing STATUS provides detailed information on the type of error STATUS OUTPUT WORD M D STATUS parameter Status information ERROR STATUS Description 0 0000h Connection is terminated 0 7000h First call with REQ 0 establishment of connection not initiated 0 700...

Page 131: ...ROR Description TRUE irrelevant irrelevant The job is being processed FALSE TRUE FALSE The job was completed successfully FALSE FALSE TRUE The job was ended with an error The cause of the error can be found in the STATUS parameter FALSE FALSE FALSE The FB was not assigned a new job Due to the asynchronous function of FB 67 TUSEND you must keep the data in the sender area consistent until the DONE ...

Page 132: ...ed data types BOOL BYTE CHAR WORD INT DWORD DINT REAL DATE TIME_OF_DAY TIME S5TIME DATE_AND_TIME STRING ADDR IN_OUT ANY D Pointer to the address of the receiver e g P DB100 DBX0 0 byte 8 see Structure of the Address Information for the Remote Partner with UDP Error information ERROR STATUS Description 0 0000h Send job completed without error 0 7000h First call with REQ 1 sending not initiated 0 70...

Page 133: ...t possible e g due to deleted DB 1 887Fh DATA parameter Internal error e g an invalid ANY reference 1 8F7Fh Internal Error VIPA specific 1 8xyyh General error information Ä Chap 4 2 General and Specific Error Information RET_VAL page 66 8 1 9 FB 68 TURCV Receiving data UDP n FB 68 TURCV receives data via UDP After successful completion of FB 68 TURCV the parameter ADDR will show you the address of...

Page 134: ...n the local connection description Range of values 0001h 0FFFh LEN INPUT INT I Q M D L 1 LEN 1472 number of bytes to be received The received data are immediately available when the block is called The amount of data received is available in RCVD_LEN NDR OUTPUT BOOL I Q M D L NDR status parameter n NDR 0 Job not yet started or still running n NDR 1 Job successfully completed ERROR OUTPUT BOOL I Q ...

Page 135: ...e buffer 1 8085h LEN parameter is greater than the largest permitted value or you changed the value of LEN from the one that existed during the first call 1 8086h The ID parameter is not in the permitted address range 1 8088h n Target buffer DATA is too small n The value in LEN is greater than the receiver area specified by DATA 1 8089h Parameter ADDR does not point to a data block 1 80A1h Communi...

Page 136: ...rmation must have structure specified below You have to create an DB that contains one or more data structures as per UDT 66 TADDR_PAR In parameter ADDR of FB 67 TUSEND you transfer and in parameter ADDR of FB 68 TURCV you receive a pointer to the address of the associated remote partner e g P DB10 DBX0 0 byte 8 Structure of the address information for the remote partner Byte Parameter Data type S...

Page 137: ...ror is returned The CP processes send and receive commands independently from the CPU cycle and needs for this transfer time The interface with the FC blocks to the user application is here synchronized by means of acknowledgements receipts For status evaluation the communication blocks return parameters that may be evaluated directly in the user appli cation These status displays are updated at e...

Page 138: ...ocks This allows you to send or receive data with AG_SEND res AG_RECV event or program driven at any wanted point within the CPU cycle You may also call the blocks for one communication connection several times within one cycle VIPA SPEED7 Network Communication Ethernet Communication Communication FC 5 6 for CP 343 HB00 OPL_SP7 Operation list en 18 30 138 ...

Page 139: ...DONE OUTPUT BOOL Status parameter for the job 0 Job running 1 Job finished without error ERROR OUTPUT BOOL Error message 0 Job running at DONE 0 0 Job ready without error at DONE 1 1 Job ready with error STATUS OUTPUT WORD Status message returned with DONE and ERROR More details are to be found in the following table The following table shows all messages that can be returned by the Ethernet CP af...

Page 140: ...e area invalid e g when area in DB not present Param eter LEN 0 0 1 8F24h Range error at reading a parameter 0 1 8F25h Range error at writing a parameter 0 1 8F28h Orientation error at reading a parameter 0 1 8F29h Orientation error at writing a parameter 0 1 8F30h Parameter is within write protected 1 recent data block 0 1 8F31h Parameter is within write protected 2 recent data block Data block 0...

Page 141: ...readable 0 0 1 80C1h The set record set is still in process 0 0 1 80C2h There is a job jam 0 0 1 80C3h The operating sources memory of the CPU are temporarily occupied 0 0 1 80C4h Communication error occurs temporarily a repetition in the user application is reasonable 0 0 1 80D2h Module start address is wrong At a reboot of the CP the output parameters are set as follows n DONE 0 n NDR 0 n ERROR ...

Page 142: ...PUT ANY Data area for the received data NDR OUTPUT BOOL Status parameter for the order 0 Order running 1 Order ready data received without error ERROR OUTPUT BOOL Error message 0 Order running at NDR 0 0 Order ready without error at NDR 1 1 Order ready with error STATUS OUTPUT WORD Status message returned with NDR and ERROR More details are to be found in the following table LEN OUTPUT INT Number ...

Page 143: ...area invalid e g when area in DB not present Param eter LEN 0 0 1 8F24h Range error at reading a parameter 0 1 8F25h Range error at writing a parameter 0 1 8F28h Orientation error at reading a parameter 0 1 8F29h Orientation error at writing a parameter 0 1 8F30h Parameter is within write protected 1 recent data block 0 1 8F31h Parameter is within write protected 2 recent data block Data block 0 0...

Page 144: ...80h at AG_RECV n STATUS 8181h at AG_SEND 8 2 4 FC 10 AG_CNTRL Control CP 343 The connections of the Ethernet CP 343 may be diagnosed and initialized by means of the VIPA FC 10 The following jobs may be executed by parameterizable commands n Reading connection information n Resetting configured connections The commands of this block are permitted only for SEND RECV connections based on the ISO RFC ...

Page 145: ... memory bit ACT ID INPUT INT Connection ID according to configuration LADDR INPUT WORD Base address of CP in hardware configuration CMD INPUT INT Job ID DONE OUTPUT BOOL Execution code ERROR OUTPUT BOOL Error code Parameters VIPA SPEED7 Network Communication Ethernet Communication FC 10 AG_CNTRL Control CP 343 HB00 OPL_SP7 Operation list en 18 30 145 ...

Page 146: ...t CP configuration with the hardware configurator the module base address is displayed in the configuration table Specify this address here Command to the FC AG_CNTRL 0 Job is still being processed or not yet triggered 1 Job executed This parameter indicates whether or not the job was completed without errors If DONE 1 RESULT may be evaluated 0 No error 1 Error indication Status indication Informa...

Page 147: ...o many jobs pending 0 1 80C3h CPU resources memory occupied 0 1 80C4h Communication error error occurs temporarily it is usually best to repeat the job in the user program 0 1 80D2h The module base address is incorrect The output parameters are set to the following values during a restart of the CP n DONE 0 n NDR 0 n ERROR 8180h at AG_RECV n ERROR 8181h at AG_SEND Please consider the block may onl...

Page 148: ...Previous job 00 No information 01 Receive job completed successfully 10 Receive job not completed successfully 0000 0x00h Bit 11 8 Codes for FETCH WRITE excluded 0011b 0111b 1000b 1011b 0010b Bit 8 Connection type 0 No FETCH connection 1 Connection reserved for FETCH jobs Bit 9 Connection type 0 No WRITE connection 1 Connection reserved for WRITE jobs Bit 10 Job status FETCH WRITE 0 Job status OK ...

Page 149: ...hed again active ore passive depending on the configuration An entry is also generated in the diagnostic buffer in which the job result may be found RESULT Hex value range Description RESULT 1 0000 0001h The reset job was transferred to the CP successfully The connection abort and subsequent connection establishment were trig gered 0000 0002h The reset job could not be transferred to the CP becaus...

Page 150: ...002h The reset job could not be transferred to the CP because the service was not started on the CP for example CP in STOP RESULT 2 0000 0000h Default CN_CLEAR_RESET Clear the reset ID This command resets the reset ID bit 15 in RESULT1 for the connection selected with the ID of the CP addressed by LADDR This job executes automatically when the connection status is read CMD 1 the sepa rate job desc...

Page 151: ...value range Description RESULT 1 0000 0001h The job was transferred to the CP successfully The connection abort was trig gered 0000 0002h This job could not be transferred to the CP because the service was not started on the CP for example CP in STOP RESULT 2 0000 0000h Default 8 2 5 FC 62 C_CNTR Querying the Connection Status Query a connection status with FC 62 The current status of the communic...

Page 152: ... being established n W 16 0002 Connection is established n W 16 000F No data on connection status available such as at CP startup n W 16 00FF Connection is not configured The output parameter RET_VAL can assume the following values at FC 62 C_CNTRL n 0000h No error when FC was executed n 8000h Error when FC was executed The output parameters ERROR and STATUS are to be evaluated regard less of the ...

Page 153: ...ns S7 communication is a configured connection table which contains the defined connections for communication For this e g WinPLC7 from VIPA or NetPro from Siemens can be used A communication connection is specified by a con nection ID for each connection partner Use the local ID to initialize the FB SFB in the PLC from which the connection is regarded and the partner ID to configure the FB SFB in...

Page 154: ... Control parameter request activates the exchange of data when a rising edge is applied with respect to the most recent FB SFB call ID INPUT WORD I Q M D constant Connection reference The ID must be specified in the form wxyzh R_ID INPUT DWORD I Q M D constant Addressing parameter R_ID Format DW 16 wxyzWXYZ DONE OUTPUT BOOL I Q M D L Status parameter DONE n 0 task has not been started or it is sti...

Page 155: ...ll to the FB SFB n contains an instance DB that does not belong to the FB SFB 8 n contains a global DB instead of an instance DB n could not locate an instance DB load a new instance DB from the PG 1 18 R_ID already exists in the connection ID 1 20 Not enough memory To ensure the data consistency is not compromised can the currently used transmission ranges SD_i be described again only if the curr...

Page 156: ...mation n ERROR 1 An error has occurred STATUS OUTPUT WORD I Q M D L Status parameter STATUS returns detailed informa tion about the type of error RD_i 1 i 4 IN_OUT ANY I Q M D T C Pointer to receive buffer i Only data type BOOL is valid Bit field not per mitted BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5TIME DATE_AND_TIME COUNTER TIMER The quantity length and data type of the buffer areas ...

Page 157: ...ceived consistently if you remember the following points n Siemens S7 300 Communication After the status parameter NDR has changed to the value 1 you must immedi ately call FB 9 URCV again with the value 0 at EN_R This ensures that the receive area is not overwritten before you have evaluated it Evaluate the receive area RD_1 completely before you call the block with the value 1 at control input E...

Page 158: ...iemens S7 400 Communication SFB 12 The send job is activated after calling the block and when there is a rising edge at REQ Sending the data from the user memory is carried out asynchronously to the processing of the user program The start address and the maximum length of the data to be sent are specified by SD_1 You can determine the job specific length of the data field with LEN In this case LE...

Page 159: ...data type BOOL is valid Bit field not permitted BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5TIME DATE_AND_TIME COUNTER TIMER LEN IN_OUT WORD I Q M D L The length of the send data block in bytes Error information ERROR STATUS dec imal Description 0 11 Warning the new task is not active since the previous task has not completed 0 25 The communication process was initiated The task is being pr...

Page 160: ...he FB SFB n contains an instance DB that does not belong to the FB SFB 12 n contains a global DB instead of an instance DB n could not locate an instance DB load a new instance DB from the PG 1 18 R_ID already exists in the connection ID 1 20 Not enough memory To guarantee consistent data the segment of send buffer SD_1 that is currently being used can only be overwritten when current send process...

Page 161: ...meter Declaration Data type Memory block Description EN_R INPUT BOOL I Q M D L constant control parameter enabled to receive indicates that the partner is ready for reception ID INPUT WORD I Q M D constant A reference for the connection Format W 16 xxxx R_ID INPUT DWORD I Q M D L constant Address parameter R_ID Format DW 16 wxyzWXYZ NDR OUTPUT BOOL I Q M D L Status parameter NDR new data accepted ...

Page 162: ... 2 Function cannot be executed 1 4 Error in the receive data block pointer RD_1 with respect to the length or the data type the send data block is larger than the receive data block 1 5 Reset request received incomplete data transfer 1 8 Access to the remote object in application memory was rejected 1 10 Access to local application memory not possible e g access to deleted DB 1 12 The call to the ...

Page 163: ...esponding instance DB Depending upon communication function the following behavior is present n Siemens S7 300 Communication FB 14 The data is read on a rising edge at REQ The parameters ID ADDR_1 and RD_1 are transferred on each rising edge at REQ After a job has been com pleted you can assign new values to the ID ADDR_1 and RD_1 parameters n Siemens S7 400 Communication SFB 14 The SFB is started...

Page 164: ...er error is detected the received data are copied into the config ured receive data buffer RD_i with the next call to FB SFB 14 and parameter NDR is set to 1 n It is only possible to activate a new read process when the previous read process has been completed You must ensure that the defined parameters on the ADDR_i and RD_i areas and the number that fit in quantity length and data type of data t...

Page 165: ...lowing behavior is present n Siemens S7 300 Communication FB 15 The data is sent on a rising edge at REQ The parameters ID ADDR_1 and SD_1 are transferred on each rising edge at REQ After a job has been completed you can assign new values to the ID ADDR_1 and SD_1 parameters n Siemens S7 400 Communication SFB 15 The SFB is started on a rising edge at REQ In the process the pointers to the areas to...

Page 166: ...L is valid Bit field not permitted BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5TIME DATE_AND_TIME COUNTER TIMER n The partner CPU stores the data at the respective address and returns an acknowl edgment n This acknowledgment is tested and when an error is detected in the data transfer parameter DONE is set to 1 with the next call of FB SFB 15 n The write process can only be activated again ...

Page 167: ...ed rising edge at REQ the data to be sent from the send area SD_i are copied from the user program After the block call you can write to these areas without corrupting the current send data 8 2 13 FB 55 IP_CONF Progr Communication Connections 8 2 13 1 Overview To configure flexible communication connections the FB 55 IP_CONF allows the pro gram controlled transfer of data blocks with configuration...

Page 168: ... ERROR and STATUS are updated LADDR INPUT WORD I Q M D constant Module base address When the CP is configured by the hardware config uration the module base address is displayed in the configuration table Enter this address here CONF_DB INPUT ANY I Q M D The parameter points to the start address of the configuration data area in a DB LEN INPUT INT I Q M D constant Length information in bytes for t...

Page 169: ... Illegal status of the FB Data in the header of CONF_DB was possibly overwritten 1 8A01h The status code in the record set is invalid value is 3 1 8A02h There is no job running on the CP however the FB has expected an acknowledg ment for a competed job 1 8A03h There is no job running on the CP and the CP is not ready the FB triggered the first job to read a record set 1 8A04h There is no job runni...

Page 170: ...ding a parameter 1 8F25h Area error writing a parameter 1 8F28h Alignment error reading a parameter 1 8F29h Alignment error writing a parameter 1 8F30h The parameter is in the write protected first current data block 1 8F31h The parameter is in the write protected second current data block 1 8F32h The parameter contains a DB number that is too high 1 8F33h DB number error 1 8F3Ah The target area w...

Page 171: ...cial features Use 1 SUB_IP_V4 4 4 IP address of the local station according to IPv4 mandatory 2 SUB_NETMASK 4 4 Subnet mask of the local station mandatory 4 SUB_DNS_SERV_ADDR 4 4 DNS Server Address This subfield can occur to 4 times The first entry is the primary DNS server optional 8 SUB_DEF_ROUTER 4 4 IP address of the default router optional 14 SUB_DHCP_ENABLE 4 1 Obtain an IP address from a DH...

Page 172: ...CV Range of values for the connection ID 1 2 64 Subfield Parameter ID Type Length byte Description Special features Use 1 SUB_IP_V4 4 4 IP address of the remote station according to IPv4 mandatory1 9 SUB_LOC_PORT 4 2 Port of the local station mandatory 10 SUB_REM_PORT 4 2 Port of the remote station mandatory1 18 SUB_CONNECT_NAME Length Name 4 Name of the connection optional 19 SUB_LOC_MODE 4 1 Loc...

Page 173: ... to IPv4 mandatory 9 SUB_LOC_PORT 4 2 Port of the local station mandatory 10 SUB_REM_PORT 4 2 Port of the remote station mandatory 18 SUB_CON NECT_NAME Length Name 4 Name of the connection optional 19 SUB_LOC_MODE 4 1 Local mode of the connection Possible values 0x00 SEND REC0x10 S5 addressing mode for FETCH WRITE 1 0x80 FETCH 1 0x40 WRITE 1 If you do not set the parameter the default setting is S...

Page 174: ...ation according to IPv4 mandatory1 11 SUB_LOC_PORT Length TSAP 4 TSAP of the local station mandatory 12 SUB_REM_PORT Length TSAP 4 TSAP of the remote station mandatory1 18 SUB_CONNECT_NAME Length Name 4 Name of the connection optional 19 SUB_LOC_MODE 4 1 Local mode of the connection Possible values 0x00 SEND RECV 0x10 S5 addressing mode for FETCH WRITE 2 0x80 FETCH 2 0x40 WRITE 2 If you do not set...

Page 175: ...tion mandatory 11 SUB_LOC_TSAP Length TASP 4 TSAP of the local station mandatory 12 SUB_REM_TSAP Length TASP 4 TSAP of the remote station mandatory1 18 SUB_CONNECT_NAME Length Name 4 Name of the connection optional 19 SUB_LOC_MODE 4 1 Local mode of the connection Possible values 0x00 SEND RECV 0x10 S5 addressing mode for FETCH WRITE 2 0x80 FETCH 2 0x40 WRITE 2 If you do not set the parameter the d...

Page 176: ...tempts incl 1 attempt 1 100 Default 5 optional 55 4 2 Time interval after which a connection is released if there is no responds of the partner station 6 160s default 30s optional 1 option using passive connection 2 the coding may be combined with OR operation Subfield Parameter ID Type Length byte Description Special features Use 56 SUB_S _C_DETAIL 4 14 Connection specific parameter mandatory 18 ...

Page 177: ... 0010h 00DFh not specified RemoteRack IN WORD Number remote rack 0000h 0002h RemoteSlot IN WORD Number remote slot 0002h 000Fh 2 CPU 4 VIPA PG OP 5 CP int 6 CP ext The local TSAP is created with LocalResource LocalRack and LocalSlot The remote TSAP is created with RemoteResource RemoteRack and RemoteSlot The configuration of a dynamic Siemens S7 connection via IP_CONF takes place analog to the con...

Page 178: ... NETPRO are still remain Now it is pos sible to change with IP_CONFIG only the system data IP Netmask etc If the special identification Block_VIPA_HWK were found no other connecting data may be parameter ized in the DB otherwise error is announced in the RETVAL If the Block_VIPA_HWK is not in the DB then all connections are removed from NETPRO as with Siemens and the connections from this DB are o...

Page 179: ...23 0 Systemdaten netmask NETMASK_3 BYTE B 16 0 B 16 0 24 0 Systemdaten router SUB_DEF_ROUTER WORD W 16 8 W 16 8 26 0 Systemdaten router SUB_DEF_ROUTER_LEN WORD W 16 8 W 16 8 28 0 Systemdaten router ROUTER_0 BYTE B 16 0 B 16 AC 29 0 Systemdaten router ROUTER_1 BYTE B 16 0 B 16 14 30 0 Systemdaten router ROUTER_2 BYTE B 16 0 B 16 8B 31 0 Systemdaten router ROUTER_3 BYTE B 16 0 B 16 61 32 0 Con_TCP_I...

Page 180: ...BYTE B 16 0 B 16 41 85 0 Con_ISO_ID3 loc_TSAP LOC_TSAP 3 BYTE B 16 0 B 16 50 86 0 Con_ISO_ID3 loc_TSAP LOC_TSAP 4 BYTE B 16 0 B 16 30 87 0 Con_ISO_ID3 loc_TSAP LOC_TSAP 5 BYTE B 16 0 B 16 31 88 0 Con_ISO_ID3 rem_TSAP SUB_REM_PORT WORD W 16 C W 16 C 90 0 Con_ISO_ID3 rem_TSAP SUB_REM_PORT_LEN WORD W 16 A W 16 A 92 0 Con_ISO_ID3 rem_TSAP REM_TSAP 0 BYTE B 16 0 B 16 54 93 0 Con_ISO_ID3 rem_TSAP REM_TS...

Page 181: ..._ESTABL WORD W 16 16 W 16 16 148 0 S7_Verb con_est SUB_CON_ESTABL_LEN WORD W 16 6 W 16 6 150 0 S7_Verb con_est CON_ESTABL BYTE B 16 0 B 16 1 152 0 S7_Verb name_verb SUB_CONNECT_NAME WORD W 16 12 W 16 12 154 0 S7_Verb name_verb SUB_CONNECT_NAME_LEN WORD W 16 23 W 16 23 156 0 S7_Verb name_verb CONNECT_NAME 0 CHAR V Connection S7 with IP Config 1 157 0 S7_Verb name_verb CONNECT_NAME 1 CHAR e 158 0 S7...

Page 182: ...e_verb CONNECT_NAME 22 CHAR o 179 0 S7_Verb name_verb CONNECT_NAME 23 CHAR n 180 0 S7_Verb name_verb CONNECT_NAME 24 CHAR f 181 0 S7_Verb name_verb CONNECT_NAME 25 CHAR I 182 0 S7_Verb name_verb CONNECT_NAME 26 CHAR g 183 0 S7_Verb name_verb CONNECT_NAME 27 CHAR 184 0 S7_Verb name_verb CONNECT_NAME 28 CHAR 1 185 0 S7_Verb name_verb CONNECT_NAME 29 CHAR 186 0 S7_Verb name_verb CONNECT_NAME 30 CHAR ...

Page 183: ...dbus Number of register bits MB_DATA_PTR IN ANY Modbus Data buffer only flag area or data block of data type byte allowed for access with function code 03h 06h and 10h DONE OUT BOOL Job finished without error BUSY OUT BOOL Job is running ERROR OUT BOOL Job is ready with error parameter STATUS has error information STATUS OUT WORD Extended status and error information Parameter is available until t...

Page 184: ... No connection established or communication error TCON 7004h 0 0 0 Connection established and monitored No job active 7005h 0 1 0 Data are sent 7006h 0 1 0 Data are received 8210h 0 0 1 The hardware is incompatible with the block library Modbus RTU TCP 8380h 0 0 1 Received Modbus frame does not have the correct format or has an invalid length 8381h 0 0 1 Server returns Exception code 01h 8382h 0 0...

Page 185: ...DB70 REQ M101 0 ID W 16 1 MB_FUNCTION B 16 3 MB_DATA_ADDR W 16 7D0 MB_DATA_LEN 100 MB_DATA_PTR P M 200 0 BYTE 200 DONE M101 1 BUSY ERROR M101 2 STATUS MW106 UN M 101 2 SPB ERR2 L MW 106 T MW 108 ERR2 NOP 0 U M 101 1 R M 101 0 1 Calling of FB 65 TCON to establish a communication connection with the partner station 2 Calling the handling block of the Modbus TCP client with the correct parameters 3 T...

Page 186: ...nly flag area or data block of type Byte allowed for access with function code 03h 06h and 10h ID IN WORD ID from TCON NDR OUT BOOL New data were written by the Modbus client DR OUT BOOL Data were read by the Modbus client ERROR OUT BOOL Job is ready with error parameter STATUS has error information STATUS OUT WORD Extended status and error information Parameter is available until the next call of...

Page 187: ...IW0 Default 0 FC4_ADDR_INPUT_END STAT WORD Modbus Function code 04h end register for IWx Default 19999 FC4_ADDR_MEMORY_START STAT WORD Modbus Function code 04h start register for MW0 Default 20000 FC4_ADDR_MEMORY_END STAT WORD Modbus Function code 04h end register for MWx Default 39999 FC5_ADDR_OUTPUT_START STAT WORD Modbus Function code 05h start register for Q0 0 Default 0 FC5_ADDR_OUTPUT_END ST...

Page 188: ...us and error information STATUS NDR DR ERROR Description 0000h 0 or 1 0 Operation executed without error 7000h 0 0 0 No connection established or communication error TCON 7005h 0 0 0 Data are sent 7006h 0 0 0 Data are received 8210h 0 0 1 The hardware is incompatible with the block library Modbus RTU TCP 8380h 0 0 1 Received Modbus frame does not have the correct format or bytes are missing 8381h ...

Page 189: ...2 L MW 106 T MW 108 ERR2 NOP 0 1 Call of FB 65 TCON to establish a communication connection with the partner sta tion 2 Calling the handling block of the Modbus TCP server with the correct parameters 3 There is no connection to the partner station and MW102 returns 7000h 4 Set M100 0 in the CPU to TRUE ð If M100 0 is automatically reset the connection to the partner station is estab lished and MW1...

Page 190: ...tem SLIO CP 040 2 VIPA SPEED7 CPU LADDR IN INT Logical address of the System SLIO CP 040 parameter is ignored with the VIPA SPEED7 CPU MB_UNIT_ID IN BYTE Modbus Device identification Address of the slave 0 247 MB_FUNCTION IN BYTE Modbus Function code MB_DATA_ADDR IN WORD Modbus Start address or Sub function code MB_DATA_LEN IN INT Modbus Number of register bits MB_DATA_PTR IN ANY Modbus Data buffe...

Page 191: ...e function block reports via STATUS the following status and error information STATUS DONE BUSY ERROR Description 0000h 1 0 0 Operation executed without error 7000h 0 0 0 No connection established or communication error 7004h 0 0 0 Connection established and monitored No job active 7005h 0 1 0 Data are sent 7006h 0 1 0 Data are received 8210h 0 0 1 The hardware is incompatible with the block libra...

Page 192: ...TU 9600 baud 8 data bit 1 stop bit even parity no flow control 3 DB10 has a variable of type WORD with a Modbus time out value in ms CALL FB 72 DB72 REQ M101 0 HARDWARE B 16 2 LADDR MB_UNIT_ID B 16 63 MB_FUNCTION B 16 3 MB_DATA_ADDR W 16 7D0 MB_DATA_LEN 100 MB_DATA_PTR P M 200 0 BYTE 200 DONE M101 1 BUSY ERROR M101 2 STATUS MW102 UN M 101 2 SPB ERR1 L MW 102 T MW 104 ERR1 NOP 0 U M 101 1 R M 101 0...

Page 193: ...1 System SLIO CP 040 2 VIPA SPEED7 CPU LADDR IN INT Logical address of the System SLIO CP 040 param eter is ignored with the VIPA SPEED7 CPU MB_UNIT_ID IN BYTE Modbus Device identification own address 1 247 MB_DATA_PTR IN ANY Modbus Data buffer only flag area or data block of data type byte allowed for access with function code 03h 06h and 10h NDR OUT BOOL New data were written by the Modbus clien...

Page 194: ..._ADDR_MEMORY_START STAT WORD Modbus Function code 02h start register for M0 0 Default 20000 FC2_ADDR_MEMORY_END STAT WORD Modbus Function code 02h end register for Mx y Default 39999 FC4_ADDR_INPUT_START STAT WORD Modbus Function code 04h start register for IW0 Default 0 FC4_ADDR_INPUT_END STAT WORD Modbus Function code 04h end register for IWx Default 19999 FC4_ADDR_MEMORY_START STAT WORD Modbus ...

Page 195: ... only accepted for writing functions n The INPUT OUTPUT Modbus addresses of a Function code must be located in front of the MEMORY Modbus address and thus always be lower n Within a Function code no Modbus address may be defined multiple times also not 0 n The slave can only process one job simultaneously New Modbus requests during job processing are ignored and not answered The function block rep...

Page 196: ...odbus RTU slave with the address 99 is realized via the internal serial RS485 interface of a VIPA CPU OB100 CALL SFC 216 Protocol B 16 1 Parameter DB10 Baudrate B 16 9 CharLen B 16 3 Parity B 16 2 StopBits B 16 1 FlowControl B 16 1 RetVal MW100 1 Calling of the SFC 216 SER_CFG to configure the internal serial interface of the CPU from VIPA 2 Protocol ASCII 9600 baud 8 data bit 1 stop bit even pari...

Page 197: ... the output Q1 0 NDR is set for one CPU cycle and thus M101 1 is set to 1 7 The master sends a Modbus request with Function code 03h start address 50 does not exist and quantity 1 ð The server responds with Exception code 02h and sets ERROR STATUS for one CPU cycle MW104 returns 8383h 9 3 FKT Codes Modbus has some naming conventions n Modbus differentiates between bit and word access Bits Coils an...

Page 198: ... of master output area 4x 04h Read n Words Read n words master input area 3x 05h Write 1 Bit Write 1 bit to master output area 0x 06h Write 1 Word Write 1 word to master output area 4x 0Fh Write n Bits Write n bits to master area 0x 10h Write n Words Write n words to master area 4x 16h Mask 1 Word Mask 1 word in master output area 4x 17h Write n Words and Read m Words Write n words into master out...

Page 199: ...s x x 0 0 0 6 6byte 1byte 1byte 1word 1word Respond telegram Modbus TCP Header Slave address Function code Number of read bytes Data 1 byte Data 2 byte x x 0 0 0 6byte 1byte 1byte 1byte 1byte 1byte max 252byte 03h Read n words of master output area 4x 04h Read n words master input area 3x Command telegram Modbus TCP Header Slave address Function code Address word Number of words x x 0 0 0 6 6byte ...

Page 200: ...lave address Function code Address bit Status bit x x 0 0 0 6 6byte 1byte 1byte 1word 1word Code 06h Write 1 word to master output area 4x Command telegram Modbus TCP Header Slave address Function code Address word Value word x x 0 0 0 6 6byte 1byte 1byte 1word 1word Respond telegram Modbus TCP Header Slave address Function code Address word Value word x x 0 0 0 6 6byte 1byte 1byte 1word 1word Wri...

Page 201: ...area 4x Command telegram Modbus TCP Header Slave address Function code Address1 word Number of words Number of bytes Data 1 word Data 2 word x x 0 0 0 6byte 1byte 1byte 1word 1word 1word 1word 1word 1word max 124byte Respond telegram Modbus TCP Header Slave address Function code Address 1 word Number of words x x 0 0 0 6 6byte 1byte 1byte 1word 1word Code 16h This function allows to mask a word in...

Page 202: ...egram Modbus TCP Header Slave address Function code Address word AND Mask OR Mask x x 0 0 0 8 6byte 1byte 1byte 1word 1word 1word VIPA SPEED7 Modbus Communication FKT Codes HB00 OPL_SP7 Operation list en 18 30 202 ...

Page 203: ... following functionality Read Write FLOWCONTROL 0 DTR RTS DSR RI CTS CD DTR RTS FLOWCONTROL 0 DTR RTS DSR RI CTS CD not possible Parameters Name Declaration Type Description WRITE IN BYTE n Bit 0 New state DTR n Bit 1 New state RTS MASKWRITE IN BYTE n Bit 0 Set state DTR n Bit 1 Set state RTS READ OUT BYTE Status flags CTS DSR RI CD DTR RTS READDELTA OUT BYTE Status flags of change between 2 acces...

Page 204: ...ens during runtime deploying the FC SFC 216 SER_CFG For this you have to store the parameters in a DB for all protocols except ASCII n Data which are written into the according data channel by the PLC is stored in a FIFO send buffer first in first out with a size of 2x1024byte and then put out via the interface n When the interface receives data this is stored in a FIFO receive buffer with a size ...

Page 205: ...baudrate of 19200baud n Calculation 19200bit s x 0 008s 154bit 9Ah n Hex value is 9Ah Here you fix the protocol to be used You may choose between n 1 ASCII n 2 STX ETX n 3 3964R n 4 USS Master n 5 Modbus RTU Master n 6 Modbus ASCII Master At ASCII protocol this parameter is ignored At STX ETX 3964R USS and Modbus you fix here a DB that contains the communication parameters and has the following st...

Page 206: ...ty of data transfer in bit s baud 04h 1200baud 05h 1800baud 06h 2400baud 07h 4800baud 08h 7200baud 09h 9600baud 0Ah 14400baud 0Bh 19200baud 0Ch 38400baud 0Dh 57600baud 0Eh 115200baud Number of data bits where a character is mapped to 0 5bit 1 6bit 2 7bit 3 8bit The parity is depending on the value even or odd For parity control the information bits are extended with the parity bit that amends via ...

Page 207: ...C Parameter x with x 1 Error at PROTOCOL 2 Error at PARAMETER 3 Error at BAUDRATE 4 Error at CHARLENGTH 5 Error at PARITY 6 Error at STOPBITS 7 Error at FLOWCONTROL 809xh Error in FC SFC parameter value x where x 1 Error at PROTOCOL 3 Error at BAUDRATE 4 Error at CHARLENGTH 5 Error at PARITY 6 Error at STOPBITS 7 Error at FLOWCONTROL parameter is missing 8092h Access error in parameter DB DB too s...

Page 208: ...g at 0 0 with a length of 124byte n DataPtr P DB5 DBX0 0 BYTE 124 n Word where the number of the sent Bytes is stored n At ASCII if data were sent by means of FC SFC 217 faster to the serial interface than the interface sends the length of data to send could differ from the DATALEN due to a buffer overflow This should be considered by the user program n With STX ETX 3964R Modbus and USS always the...

Page 209: ...oo short 0byte 9004h Character not allowed 3964R Value Description 2000h Send ready without error 80FFh NAK received error in communication 80FEh Data transfer without acknowledgement of partner or error at acknowl edgement 9000h Buffer overflow no data send 9001h Data too long 1024byte 9002h Data too short 0byte USS Error code Description 2000h Send ready without error 8080h Receive buffer overfl...

Page 210: ...end ready negative slave respond 8080h Receive buffer overflow no space for receipt 8090h Acknowledgement delay time exceeded 80F0h Wrong checksum in respond 80FDh Length of respond too long 80FEh Wrong function code in respond 80FFh Wrong slave address in respond 9000h Buffer overflow no data send 9001h Data too long 1024byte 9002h Data too short 2byte VIPA SPEED7 Serial Communication Serial comm...

Page 211: ...rates the structure of programming a send command for the different protocols 3964R Principles of programming VIPA SPEED7 Serial Communication Serial communication FC SFC 217 SER_SND Send to PtP HB00 OPL_SP7 Operation list en 18 30 211 ...

Page 212: ...USS Modbus ASCII STX ETX VIPA SPEED7 Serial Communication Serial communication FC SFC 217 SER_SND Send to PtP HB00 OPL_SP7 Operation list en 18 30 212 ...

Page 213: ...ting at 0 0 with a length of 124byte n DataPtr P DB5 DBX0 0 BYTE 124 n Word where the number of received Bytes is stored n At STX ETX and 3964R the length of the received user data or 0 is entered n At ASCII the number of read characters is entered This value may be different from the read telegram length This word gets an entry in case of an error The following error messages may be created depen...

Page 214: ...ve buffer Error code Description 0000h no error 1000h Receive buffer too small data loss 8x24h Error at FC SFC Parameter x with x 1 Error at DATAPTR 2 Error at DATALEN 3 Error at ERROR 8122h Error in parameter DATAPTR e g DB too short 809Ah Serial interface not found res interface is used by PROFIBUS 809Bh Serial interface not configured RETVAL FC SFC 218 Return value VIPA SPEED7 Serial Communicat...

Page 215: ... If the entire telegram was received EMPF_FERTIG is set and the FB is left The reading of the data may require several FB calls The next telegram is only be read if the bit EMPF_FERTIG was reset by the user With this FB only telegrams with fix length can be received Parameter Parameter Declaration Data type Description EMPF_PUFFER IN ANY Pointer to DB in which the received telegram is transmitted ...

Page 216: ... called either cyclically or statically by a timer driven program Please note that this block calls the FC or SFC 192 CP_S_R internally These must not be overwritten The direct call of an internal block leads to errors in the corresponding instance DB Parameter Parameter Declaration Data type Description EN_R IN BOOL Enables data read R IN BOOL Aborts request current request is aborted and receivi...

Page 217: ...be identified Significant time periods are the CPU cycle time the updating time on the CP and the response time of the communication partner n The NDR output shows request completed without errors data accepted If there was an ERROR the corresponding event number is displayed in the STATUS If no error occurs the value of STATUS is 0 n NDR and ERROR STATUS are also output in response to a RESET of ...

Page 218: ...h error Parameter STATUS contains error details STATUS OUT WORD Specification of the error on ERROR 1 Parameter is available until the next call of the FB n The data transmission is initiated by a positive edge at the REQ input of FB 8 P_SND_RK A data transmission operation can run over several program cycles depending on the amount of data involved n A running request may me cancelled at any time...

Page 219: ... communication partner takes place which may be configured by the hardware configuration n A telegram to be sent is divided into blocks in the CPU depending on the IO size and transferred via the data channel to the CP In the CP these blocks are assembled in the send buffer and when the telegram is complete the telegram is sent by the serial interface n The exchange of received telegrams via the b...

Page 220: ...SEND with positive edge R IN BOOL Release synchronous reset LADDR HW_ID IN INT HW_IO n LADDR Logical base address of the CP When used in CPUs from VIPA or S7 300 CPUs from Siemens n HW_ID HW identifier to address the CP When used in S7 1500 CPUs from Siemens DB_NO IN INT Number of DB containing data to send DBB_NO IN INT Data byte number send data starting from data byte LEN IN INT Length of teleg...

Page 221: ...ed as long as R is statically set to 1 Peripheral address n This parameter is only available in CPUs from VIPA or in S7 300 CPUs from Sie mens n With LADDR the address of the corresponding CP may be determined This is the address which you have assigned via the hardware configuration for the CP HW identifier n This parameter is only available in S7 1500 CPUs of Siemens n Enter at HW_ID the HW iden...

Page 222: ... 0202h Possible sources of error n Handling block and CP are not synchronous remedy Trigger synchronous reset n IO_SIZE is not valid IO_SIZE 0 or IO_SIZE 60 0301h DB is not valid 0517h LEN is not valid LEN 0 or LEN 1024 070Ah Transfer failed there is no response of the partner or the job was negative acknowledged 8090h HW_ID is unknown 80A0h When accessing the periphery an access error was detecte...

Page 223: ...HW identifier to address the CP When used in S7 1500 CPUs from Siemens DB_NO IN INT Number of DB containing received data DBB_NO IN INT Data byte number receive data starting from data byte IO_SIZE IN WORD Configured IO size of the module LEN OUT INT Length of received telegram in byte NDR OUT BOOL Receive order finished without errors ERROR OUT BOOL Receive order finished with errors Parameter ST...

Page 224: ...y Ä Chap 4 1 HW identifier HW_ID page 66 Data block number n Number of the data block which contains the data are read n Zero is not permitted Data byte number n Number of data byte in the data block starting from which the received data are stored Size I O area n Enter the size of the I O area Depending on the host system the CP occupies for input and output the following bytes in the I O areas P...

Page 225: ...rder ready without error data kept If there was an ERROR the corresponding event number is displayed in the STATUS If no error occurs the value of STATUS is 0 n NDR ERROR and STATUS are also output in response to a reset of the FB In the event of an error the binary result BR is reset If the block is terminated without errors the binary result has the status 1 n Please regard the parameter NDR ERR...

Page 226: ...ror message NDR_RCV OUT BOOL Receive order finished without errors Data sent Parameter STATUS_RCV 0000h The Parameter is available until a cycle ERROR_RCV OUT BOOL Receive order finished with errors Parameter STATUS_RCV contains the error information STATUS_SEND OUT WORD Specification of the error with ERROR_SEND 1 LEN_RCV OUT INT Length of received telegram in byte 1 LEN_RCV 1024 STATUS_RCV OUT W...

Page 227: ...R_RCV 1 Parameter is available until the FB is called Request Send release n With a positive edge on input REQ_SEND the transfer of the data is triggered Depending on the number of data a data transfer can run over several program cycles Enable receive data Synchron Reset n For the initialization the FB 65 is once to be called in the start up OB with every parameter and set RESET n At any time a c...

Page 228: ...END 1024 Number of the DB RECV n Number of the data block which contains the receive data n Zero is not permitted Data byte number RECV n Number of data byte in the data block starting from which the received data are stored Size I O area n Enter the size of the I O area Depending on the host system the CP occupies for input and output the following bytes in the I O areas SLIO CPU 8byte 20byte or ...

Page 229: ...e 16 Length Receive n Length of the received telegram in byte n 1 LEN_RCV 1024 New data ready n New received data are ready in receive DB Signal stays for one cycle n Received data without error Parameter STATUS_RCV 0000h ERROR_RCV is set at order ready with error Here STATUS_RCV contains the corre sponding error message If there is no error STATUS_RCV 0000h or 8181h With an error here the corre s...

Page 230: ... terminated without errors the binary result has the status 1 n Please regard the parameter DONE_SEND NDR_RCV ERROR_SEND ERROR_RCV and STATUS_SEND STATUS_RCV are only available at one block call For further evaluation these should be copied to a free data area 10 3 CP240 10 3 1 FC 0 SEND_ASCII_STX_3964 Send to CP 240 This FC serves the data output from the CPU to the CP 240 Here you define the sen...

Page 231: ...le that contains the number of the data word from where on the characters for output are stored Number of the bytes that are to be transferred At proper function all bits of this bit memory byte are 0 At errors an error code is entered The error setting is self acknowledging i e after elimination of the error cause the byte is set back to 0 again The following errors may occur n 1 Data block not p...

Page 232: ...of received bytes of Type WORD as IN_OUT parameter used in S7 1500 CPUs from Siemens PAFE OUT IN_OUT BYTE PAFE 0 OK n Parametrization error code of Type BYTE as OUT parameter used in CPUs from VIPA or in S7 300 CPUs from Siemens n Parametrization error code of Type BYTE as IN_OUT parameter used in S7 1500 CPUs from Siemens EMFR IN_OUT BOOL Acknowledgment of receipt GEEM IN_OUT WORD Is internally u...

Page 233: ...the SYNCHRON_RESET FC9 the control bits EMFR LETZTER_BLOCK EMPF_LAEUFT and FEHLER_EMPF must always be stored in a bit memory byte 10 3 3 FC 8 STEUERBIT Modem functionality CP 240 This block allows you the following access to the serial modem lines Read DTR RTS DSR RI CTS CD Write DTR RTS Parameters Name Declaration Type Comment ADR IN INT Logical Address RTS IN BOOL New state RTS DTR IN BOOL New s...

Page 234: ...ys returns 00h and is reserved for future error messages STATUS returns the actual status of the modem lines DELTA_STATUS returns the state of the modem lines that have changed since the last access The bytes have the fol lowing structure Bit no 7 6 5 4 3 2 1 0 STATUS x x RTS DTR CD RI DSR CTS DELTA_STATUS x x x x CD RI DSR CTS By setting of START the state which has been activated via the mask is...

Page 235: ... the handling block is informed that a STOP START res NETZ AUS NETZ EIN has been executed at the CPU and now a synchronization is required After the syn chronization ANL is automatically set back Parameter is used internally RESET 1 allows you to set back the CP out of your user application Parameter is used internally Here you have to set the bit memory byte where the control bits FRG ENDE_KOM LE...

Page 236: ...ss _DB IN BLOCK_DB DB number of DB containing data received ABD IN WORD No of 1st data word received ANZ OUT WORD No of bytes received EMFR IN_OUT BOOL Receipt confirmation GEEM IN_OUT WORD Internal use ANZ_INT IN_OUT WORD Internal use EMPF_LAEUFT IN_OUT BOOL Internal use LETZTER_BLOCK IN_OUT BOOL Internal use FEHLER_EMPF IN_OUT BOOL Internal use PAFE OUT BYTE Parameterization error 0 OK Periphery...

Page 237: ...short n 3 Data block number outside valid range These parameters are internally used They serve the information exchange between the handling blocks For the deployment of the SYNCHRON_RESET FC 9 the control bits LETZTER_BLOCK EMPF_LAEUFT and FEHLER_EMPF must always be stored in a bit memory byte PAFE GEEM ANZ_INT LETZTER_BLOCK EMPF_LAEUFT FEHLER_EMPF VIPA SPEED7 Serial Communication CP240 FC 11 AS...

Page 238: ...D Logical base address of the EtherCAT slave station respec tively master in the hardware configuration With an output module bit 15 must be set example for address 5 ID DW 16 8005 With a combination module you have to set the lower one of the two addresses INDEX IN WORD Index of the object for the SDO access SUBINDEX IN BYTE Sub index of the object for the SDO access COMPL_ACCESS IN BOOL This par...

Page 239: ...ut yes 0x80A9 Feature not supported by the module yes 0x80AA Module reports a manufacturer specific error in its application yes 0x80B0 Data record not known in module Illegal data record number yes 0x80B4 Module reports access to an invalid area yes 0x80B5 Module not ready yes 0x80B6 Module denies access yes 0x80B7 Module reports an invalid range for a parameter or value yes 0x80B8 Module reports...

Page 240: ...e disconnected 0x98110031 No mailbox support CoE Error codes Description CoE slave abort code 0x98110040 SDO Toggle bit not alternated 0x05030000 0x98110041 SDO protocol timed out 0x05040000 0x98110042 SDO Client server command specifier not valid or unknown 0x05040001 0x98110043 SDO Invalid block size block mode only 0x05040002 0x98110044 SDO Invalid sequence number block mode only 0x05040003 0x9...

Page 241: ...e of parameter exceeded only for write access 0x06090030 0x98110055 SDO Value of parameter written too high 0x06090031 0x98110056 SDO Value of parameter written too low 0x06090032 0x98110057 SDO Maximum value is less than minimum value 0x06090036 0x98110058 SDO General error 0x08000000 0x98110059 SDO Data cannot be transferred or stored to the application 0x08000020 0x9811005A SDO Data cannot be t...

Page 242: ...CCESS IN BOOL This parameter defines whether only a single sub index or the entire object is to be written LEN IN INT Maximum length of the data to be written DONE OUT BOOL indicates that a new record set was written BUSY OUT BOOL This parameter indicates the status of the SDO access BUSY 1 SDO access is not yet terminated ERROR OUT BOOL ERROR 1 A write error has occurred RETVAL OUT INT Return val...

Page 243: ...es access yes 0x80B7 Module reports an invalid range for a parameter or value yes 0x80B8 Module reports an invalid parameter yes 0x80B9 Module reports an invalid type Buffer too small writing subsets is not possible yes 0x80C2 The module currently processes the maximum possible jobs for a CPU yes 0x80C3 The required operating resources are currently occupied no 0x80C4 Internal temporary error Job ...

Page 244: ...de only 0x05040004 0x98110046 SDO Out of memory 0x05040005 0x98110047 SDO Unsupported access to an object 0x06010000 0x98110048 SDO Attempt to read a write only object 0x06010001 0x98110049 SDO Attempt to write a read only object 0x06010002 0x9811004A SDO Object does not exist in the object dictionary 0x06020000 0x9811004B SDO Object cannot be mapped to the PDO 0x06040041 0x9811004C SDO The number...

Page 245: ...t be transferred or stored to the application 0x08000020 0x9811005A SDO Data cannot be transferred or stored to the application because of local control 0x08000021 0x9811005B SDO Data cannot be transferred or stored to the application because of the present device state 0x08000022 0x9811005C SDO Object dictionary dynamic generation fails or no object dictionary is present e g object dictionary is ...

Page 246: ...ulate the period duration with integrated consistent access FC 302 FM_GET_FREQUENCY Function to calculate the frequency with integrated consistent access FC 303 FM_GET_SPEED Function to calculate the rotational speed with integrated consistent access 12 1 2 FC 300 FM_SET_CONTROL Control frequency measurement consistent The System SLIO Frequency measurement module is controlled by the FC 300 FM_SET...

Page 247: ...quency measure ment module which is to be written to The address is hexadecimal n Example Address 100 LADDR_OUT W 16 64 HW identifier n This parameter is only available in S7 1500 CPUs of Siemens n Enter at HW_ID the HW identifier with which your module can be addressed accord ingly Ä Chap 4 1 HW identifier HW_ID page 66 Enter here the measurement period in µs for the corresponding channel Range o...

Page 248: ...e bus coupler 0x80B3 System error on the bus coupler 0x80C1 The data from the previous read request on the module are not pro cessed by the module yet 0x80C2 System error on the bus coupler 0x80Fx System error on the bus coupler 0x85xy System error on the bus coupler 0x8xyy General error information Ä Chap 4 2 General and Specific Error Information RET_VAL page 66 12 1 3 FC 301 FM_GET_PERIOD Calcu...

Page 249: ...s from VIPA or in S7 300 CPUs from Siemens n Configured base address of the input area of the System SLIO frequency measure ment module which is to be read from The address is hexadecimal n Example Address 100 LADDR_IN W 16 64 HW identifier n This parameter is only available in S7 1500 CPUs of Siemens n Enter at HW_ID the HW identifier with which your module can be addressed accord ingly Ä Chap 4 ...

Page 250: ...the bus coupler 0x8090 LADDR_IN is not correct possible reasons n there is no module configured on this address n limitation of the length of consistent data was not considered n Basic address in parameter LADDR_IN was not entered in hexadecimal type 0x8093 There is no bus coupler existing for LADDR_IN to which consistent data can be written 0x80A0 An access error was detected during peripheral ac...

Page 251: ...en used in S7 1500 CPUs from Siemens DONE OUTPUT BOOL I Q M D L Ready signal TRUE OK ERROR OUTPUT WORD I Q M D L Return value 0 OK FREQUENCY_CH0 OUTPUT DINT I Q M D L Channel 0 Frequency FREQUENCY_CH1 OUTPUT DINT I Q M D L Channel 1 Frequency Peripheral address n This parameter is available in CPUs from VIPA or in S7 300 CPUs from Siemens n Configured base address of the input area of the System S...

Page 252: ...entered measurement period 0x80E9 Channel 1 No valid measurement within the entered measurement period Code Description 0x808x System error on the bus coupler 0x8090 LADDR_IN is not correct possible reasons n there is no module configured on this address n limitation of the length of consistent data was not considered n Basic address in parameter LADDR_IN was not entered in hexadecimal type 0x8093...

Page 253: ...k are returned by ERROR Parameters Parameter Declaration Data type Memory block Description LADDR_IN HW_ID INPUT WORD HW_IO I Q M D L n LADDR_IN Logical base input address of the frequency measurement module When used in CPUs from VIPA or in S7 300 CPUs from Siemens n HW_ID HW identifier to address the fre quency measurement module When used in S7 1500 CPUs from Siemens RESOLUTION_CH0 INPUT DINT I...

Page 254: ...h which your module can be addressed accord ingly Ä Chap 4 1 HW identifier HW_ID page 66 Enter here the resolution in increments per revolution for the corresponding channel Ready signal of the function n TRUE Function was finished without error n FALSE Function is not active respectively there is an error Currently determined rotational speed of the corresponding channel in revolutions per minute...

Page 255: ...onal speed max DINT 0x80E7 Channel 1 Determined rotational speed max DINT 0x80E8 Channel 0 No valid measurement within the entered measurement period 0x80E9 Channel 1 No valid measurement within the entered measurement period Code Description 0x808x System error on the bus coupler 0x8090 LADDR_IN is not correct possible reasons n there is no module configured on this address n limitation of the le...

Page 256: ...cy measurement module by means of the bus system By calling the appropriate function the corre sponding FM_ parameters are automatically filled by the function Function Symbol Comment FC 310 FM_CONTROL Function to control the frequency measurement FC 311 FM_CALC_PERIOD Function to calculate the period duration FC 312 FM_CALC_FREQUENCY Function to calculate the frequency FC 313 FM_CALC_SPEED Functi...

Page 257: ...red by the bus system to the fre quency measurement module The measurement of both channels is stopped by reset ting ENABLE_FM after FM_CONTROL_CHx was consistent transferred to the frequency measurement module Only as long as the frequency meters are started evaluated values can be retrieved from the module Otherwise you get the error message that the channels are disabled Enter here the measurem...

Page 258: ...annels Since this FC does not internally call a block for consistent read access of data you have to ensure consistent data transfer in your system Parameters Parameter Declaration Data type Memory block Description FM_PERIOD_CH0 INPUT DWORD I Q M D L Actual value of frequency meas urement module input address 0 FM_PERIOD_CH1 INPUT DWORD I Q M D L Actual value of frequency meas urement module inpu...

Page 259: ... of rising edges for channel 0 respec tively channel 1 The content is to be consistent connected with address 8 respectively 12 of the input area of the frequency measurement module via the according bus system This parameter contains the status of channel 0 respectively channel 1 The content is to be consistent connected with address 16 respectively 18 of the input area of the fre quency measurem...

Page 260: ...t period 12 1 9 FC 312 FM_CALC_FREQUENCY Calculate frequency With the FC 312 FM_CALC_FREQUENCY you can calculate the period duration of the input signals of both channels Since this FC does not internally call a block for consistent read access of data you have to ensure consistent data transfer in your system Parameters Parameter Declaration Data type Memory block Description FM_PERIOD_CH0 INPUT ...

Page 261: ...vely channel 1 The content is to be consistent connected with address 8 respectively 12 of the input area of the frequency measurement module via the according bus system This parameter contains the status of channel 0 respectively channel 1 The content is to be consistent connected with address 16 respectively 18 of the input area of the fre quency measurement module via the according bus system ...

Page 262: ...als of both channels Since this FC does not internally call a block for consistent read access of data you have to ensure consistent data transfer in your system Parameters Parameter Declaration Data type Memory block Description FM_PERIOD_CH0 INPUT DWORD I Q M D L Actual value of frequency meas urement module input address 0 FM_PERIOD_CH1 INPUT DWORD I Q M D L Actual value of frequency meas ureme...

Page 263: ...el 0 respec tively channel 1 The content is to be consistent connected with address 8 respectively 12 of the input area of the frequency measurement module via the according bus system This parameter contains the status of channel 0 respectively channel 1 The content is to be consistent connected with address 16 respectively 18 of the input area of the fre quency measurement module via the accordi...

Page 264: ...nnel 0 Determined number of edges 0xFFFFFF 0x80E5 Channel 1 Determined number of edges 0xFFFFFF 0x80E6 Channel 0 Determined rotational speed max DINT 0x80E7 Channel 1 Determined rotational speed max DINT 0x80E8 Channel 0 No valid measurement within the entered measurement period 0x80E9 Channel 1 No valid measurement within the entered measurement period 12 2 Energy Measurement 12 2 1 Overview 12 2...

Page 265: ... the measurand and the DS ID In the module you can combine some measurands to one data package Frame which is transferred in one step One data package consists of 12byte user data Considering the data length of 12 bytes you can define the content of a frame by specifying the ID of the measurands Up to 256 frames may be configured Frame 0 Frame 255 The fol lowing must be observed n The definition o...

Page 266: ...A of FB 325 n With the basic settings of the UDT 325 all measured values of the energy measuring module are read with a period of 1s and stored in the data structure MEAS_DATA You can adjust the period via the variableHeader Polltime in the data structure MEAS_DATA of the FB 325 To validate the relevancy of your measured values you can check the DS ID parameter for the time of its last change As s...

Page 267: ...that occur during command processing can be found at Header Status_Cmd and the detailed information at Header Error_ID n In the event of an error the function block continues the order processing Here the faulty jobs are repeated The measured values in the data structure MEAS_DATA are not affected by error messages 12 2 2 FB 325 EM_COM_R1 Communication with 031 1PAxx This block enables the communi...

Page 268: ...measurand is a physical quantity that can be measured such as current voltage and temperature An overview of the measurands can be found in the manual for your energy measurement module UDT Data UDT SetValues Structure for the setpoint specification UDT Header Declaration Data type Description Timeout INPUT TIME n Timeout for job processing If Timeout is exceeded the job is aborted and a correspon...

Page 269: ...ed Note Writing of energy set points requires a protocol version major 1 and minor 1 Status_Cmd OUTPUT BYTE Status command n 0x00 Not processed n 0x01 In process BUSY n 0x02 Ready without error DONE n 0x80 Error on processing ERROR see ERROR_ID Jobtime OUTPUT TIME n Duration to read the measured values respectively to run a command DsID OUTPUT BYTE Number of the current DS ID Ä DS ID page 265 Fram...

Page 270: ...NT32 1Wh EN_L2_CON SUMED INPUT DWORD Setpoint active energy L2 consumer UINT32 1Wh EN_L2_ DELIV ERED INPUT DWORD Setpoint active energy L2 producer UINT32 1Wh EN_L3_CON SUMED INPUT DWORD Setpoint active energy L3 consumer UINT32 1Wh EN_L3_ DELIV ERED INPUT DWORD Setpoint active energy L3 producer UINT32 1Wh EXCESS_ACTIVE_ EN_CONSUME INPUT DWORD Setpoint for overflow energy meter phase 1 3 consumer...

Page 271: ...et Frame Frame definition is not valid Set Frame 0x80A9 Status communication Error Telegram type not available invalid request 0x80AA Status communication Error Parameter the last parameter set was not valid 0x80AB Error Measuring module BUSY no new data are transferred 0x80AE External error Please contact our support 0x80AF Internal error Due to a temporary disturbance during the processing of th...

Page 272: ... object dictionary can be found in the manual of your motion module Each object has a subindex 0 Calling an object with subindex 0 the number of available subindexes of the corresponding object is returned The motion modules occupy a certain number of bytes in the I O address area Head module Backplane bus Motion module CPU respectively bus cou pler à ß Process data Acyclic channel Via the Acyclic...

Page 273: ... System SLIO motion modules by means of your user program Here the block uses an acyclic communication channel based on a request response sequence This is part of the input output area of motion module The following System SLIO motion modules are supported n 054 1BA00 FM 054 Stepper n 054 1CB00 FM 054 2xDC n 054 1DA00 FM 054 Pulse Train RS422 Due to the FB 321 internally calls the FB 320 and both...

Page 274: ... specification is not transmitted DONE OUT BOOL 1 Job has been executed without error BUSY OUT BOOL 0 There is no job being executed 1 Job is currently being executed ERROR OUT BOOL 0 No Error 1 There is an error The cause of the error is shown on the ERROR_ID parameter ERROR_ID OUT WORD Detailed error information Please note that the parameters WRITE_DATA and READ_DATA are not checked for data ty...

Page 275: ...unction block must be called cyclically to execute the command If there is again an edge 0 1 at REQUEST during the job processing an error is reported no new command is activated and the answer rejected by the current command ERROR_ID Description 0x0000 There is no Error 0x8070 Faulty parameter MODE 0x8071 Faulty parameter COMMAND 0x8072 Parameter WRITE_LENGTH exceeds the maximum size 0x8073 Param...

Page 276: ...dule The following System SLIO modules are supported n 054 1BA00 FM 054 motion module Stepper n 054 1CB00 FM 054 motion module 2xDC n 054 1DA00 FM 054 motion module Pulse Train RS422 Due to the FB 321 internally calls the FB 320 and both blocks access the same database for each channel if multi channel you can use only one of these blocks in your user program Also this block must be called per cyc...

Page 277: ...b is finished If REQUEST is already reset during job processing so it is guaranteed that the whole object list is processed At the end of the job with no error DONE is set for one PLC cycle Only then the outputs are reset n Input parameter The input parameters are taken with edge 0 1 at REQUEST To change parame ters you have to trigger the job again If there is again an edge 0 1 at REQUEST during ...

Page 278: ...essed If there is no job active DATASET_INDEX 0 is returned If there is an error during the object processing DATASET_INDEX shows the faulting object If there is again an edge 0 1 at REQUEST during the job processing an error is reported ERROR_ID 0x8075 no new command is activated and the answer rejected by the current command 1 The job is started with edge 0 1 at REQUEST and BUSY becomes TRUE 2 A...

Page 279: ...ion Group IN WORD 0 Group 0x80 permitted COMMAND IN BYTE 0x11 Read from the object list 0x21 Write to the object list Index IN WORD Index of the object Subindex IN BYTE Subindex of the object Write_Length IN BYTE Length of the data to be written in byte Data_Write IN DWORD Data to be written Data_Read OUT DWORD Read data State OUT BYTE 0x00 never processed 0x01 BUSY in progress 0x02 DONE successfu...

Page 280: ..._VAL are returned from the SFB 239 to the FB 240 Please note that this block is not part of the library for the Siemens TIA Portal Parameters Parameter Declaration Data type Memory area Description REQ IN BOOL I Q M D L Function request with REQ 1 BUSY OUT BOOL I Q M D L Return value of the SFB 239 RET_VAL OUT WORD I Q M D L Return value of the SFB 239 12 4 2 FB 241 RAM_to_autoload wld RAM to auto...

Page 281: ...rization of the pulse duration modulation for the last two output channels of X5 Please note that this block is not part of the library for the Siemens TIA Portal Parameters Parameter Declaration Type Description CHANNEL IN INT Number of the output channel for PWM ENABLE IN BOOL Start bit of the job TIMEBASE IN INT Time base PERIOD IN DINT Period of the PWM DUTY IN DINT Output value per mille MINL...

Page 282: ...gth The parameters have the following meaning n Define the output channel that you want to address Value range 0 1 n Via this parameter you may activate the PWM function true res deactivate it false Value range true false n TIMEBASE defines the resolution and the value range of the pulse period and min imum pulse length per channel n You may choose the values 0 for 0 1ms and 1 for 1ms Value range ...

Page 283: ...Parameter TIMEBASE outside the permissible range 8009h Parameter CHANNEL outside the permissible range 9001h Internal error There was no valid address for a parameter 9002h Internal hardware error Please contact the hotline 9003h Output is not configured as PWM output respectively there is an error in hardware configuration 9004h HF PWM was configured but SFC 223 was called please use SFC 225 HF_P...

Page 284: ...according counter is set zero and started new If necessary an alarm occurs Value range 0 FFFFFFFFh Via the parameter RET_VAL you get an error number in return See the table below for the concerning error messages Value Description 0000h No error 8002h The chosen channel is not configured as counter Error in the hardware configuration 8008h Parameter DIRECTION outside the permissible range 8009h Pa...

Page 285: ...HF PWM DUTY IN DINT Pulse duty ratio per mille MINLEN IN DINT Minimum pulse duration RET_VAL OUT WORD Return value 0 OK You define a time base a period the pulse duty ratio and min pulse length The CPU determines a pulse series with an according pulse break relation and issues this via the according output channel ð The SFC returns a certain error code You can see the concerning error mes sages in...

Page 286: ...e 0 60000 Via the parameter RET_VAL you get an error number in return See the table below for the concerning error messages Value Description 0000h no error 8005h Parameter MINLEN outside the permissible range 8006h Parameter DUTY outside the permissible range 8007h Parameter FREQUENCE outside the permissible range 8008h Parameter TIMEBASE outside the permissible range 8009h Parameter CHANNEL outs...

Page 287: ...t detailed knowledge of the drives n Support of various drives and field buses n Visualization of individual axes n Scalable by using PLCopen blocks The Simple Motion Control Library is divided into the following groups n Axis Control General blocks for controlling the drives n Sigma5 EtherCAT Specific blocks for the use of Sigma 5 drives which are connected via EtherCAT n Sigma7 EtherCAT Specific...

Page 288: ...Kernel block to communicate with the axis n Connecting the blocks for the motion sequences 13 2 1 2 Set the parameters on the drive CAUTION Before the commissioning you have to adapt your drive to your applica tion with the Sigma Win software tool More may be found in the manual of your drive The following parameters must be set via Sigma Win to match the Simple Motion Con trol Library Sigma 5 20b...

Page 289: ...age with New project ð A new project is created and the view Devices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates a CPU with EtherCAT master functions such as CPU 015 CEFNR00 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project V...

Page 290: ...AT Master Axes The number of axes is not relevant in this example 3 Confirm your input with OK ð The motion control functions are now available in your project CAUTION Please note due to the system with every change to the feature set settings the EtherCAT field bus system and its motion con trol configuration will be deleted from your project Activate motion control functions VIPA SPEED7 Motion c...

Page 291: ...th current ESI files and you can skip this part If your ESI file is not up to date you will find the latest ESI file for the Sigma 5 EtherCAT drive under www yaskawa eu com at Service è Drives Motion Software 1 Download the according ESI file for your drive Unzip this if necessary 2 Navigate to your SPEED7 Studio 3 Open the corresponding dialog window by clicking on Extra è Install device descript...

Page 292: ...ive does not exist you must install the corresponding ESI file as described above ð The Sigma 5 drive is connected to your EC Mastersystem VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 5 EtherCAT HB00 OPL_SP7 Operation list en 18 30 292 ...

Page 293: ... your Sigma 5 drive More information about the usage of the SPEED7 EtherCAT Manager may be found in the online help of the SPEED7 Studio 2 Click on the slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs Configure Sigma 5 drive VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 5 E...

Page 294: ...y de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 5 EtherCAT HB00 OPL_SP7 Operation list...

Page 295: ...1A00 n General Name 1st Transmit PDO mapping Index 0x1A00 n Flags Everything de activated n Direction TxPdo Input activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time 1A01 de activated n Entries Name Index Bit length Status word 0x6041 00 16bit Position actual internal value 0x6063 00 32bit Position actual value 0x6064 00 32bit Torque actu...

Page 296: ...wise the PDO mappings can not be activated at the same time 1A00 de activated 1A02 de activated 1A03 de activated n Entries Name Index Bit length Touch probe status 0x60B9 00 16bit Touch probe 1 position value 0x60BA 00 32bit Touch probe 2 position value 0x60BC 00 32bit Velocity actual value 0x606C 00 32bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Library ...

Page 297: ...uch probe function 0x60B8 00 16bit Close the dialog Edit PDO with OK 7 Select the mapping 2nd ReceivePDO mapping and click at Edit Perform the fol lowing settings Outputs 2nd Receive PDO 0x1601 n General Name 2nd Receive PDO mapping Index 0x1601 n Flags Everything de activated n Direction RxPdo Output activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at...

Page 298: ...ting mode 10 Select the Process image tab via the arrow key in the Device editor and note for the parameter of the block FB 871 VMC_InitSigma5_EC the following PDO n S7 Input address à InputsStartAddressPDO n S7 Output address à OutputsStartAddressPDO 11 By closing the dialog of the SPEED7 EtherCAT Manager with X the configuration is taken to the SPEED7 Studio VIPA SPEED7 Motion control Simple Mot...

Page 299: ...0 VMC_KernelSigma5_EC The Kernel block communicates with the drive via the appropriate bus system processes the user requests and returns status messages Specific block for Sigma 5 EtherCAT The exchange of the data takes place by means of the axis DB n FB 860 VMC_AxisControl General block for all drives and bus systems Supports simple motion commands and returns all relevant status messages The ex...

Page 300: ...ma5EC_REF FB 870 VMC_KernelSigma5_EC FB 871 VMC_InitSigma5_EC n Axis Control UDT 860 MC_AXIS_REF Blocks for your movement sequences 1 Add a new DB as your axis DB to your project Click in the Project tree within the CPU at PLC program Program blocks at Add New block select the block type DB block and assign the name Axis01 to it The DB number can freely be selected such as DB 10 ð The block is cre...

Page 301: ...Position 0 000000e 000 MaxVelocityApp 5 000000e 001 MaxAccelerationApp 1 000000e 002 MaxDecelerationApp 1 000000e 002 MaxVelocityDrive 6 000000e 001 MaxAccelerationDrive 1 500000e 002 MaxDecelerationDrive 1 500000e 002 MaxPosition 1 048500e 003 MinPosition 1 048514e 003 EnableMaxPosition TRUE EnableMinPosition TRUE MinUserPosition InitS5EC1_MinUserPos MaxUserPosition InitS5EC1_MaxUserPos Valid Ini...

Page 302: ...dy AxisEnabled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy A...

Page 303: ...on with the FB 860 VMC_AxisControl or with the PLCopen blocks There is the possibility to control your drive via HMI For this a predefined symbol library is available for Movicon to access the VMC_AxisControl function block Ä Chap 13 8 Controlling the drive via HMI page 613 13 2 1 4 Usage in Siemens SIMATIC Manager 13 2 1 4 1 Precondition n Please use for configuration the Siemens SIMATIC Manager ...

Page 304: ...avigate to your working directory and install the according GSDML file ð After the installation the EtherCAT Network can be found at PROFINET IO è Additional field devices è I O è VIPA VIPA EtherCAT System The configuration of the PROFINET IO device EtherCAT Network happens by means of the SPEED7 EtherCAT Manager from VIPA This may be found in the service area of www vipa com at Service Support è ...

Page 305: ...therCAT master is to be configured via the sub module X2 PN IO as a virtual PROFINET network 6 Click at the sub module PN IO of the CPU 7 Select Context menu è Insert PROFINET IO System 8 Create with New a new sub net and assign valid address data 9 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 10 Enter at General a Device name The device na...

Page 306: ... V3 0 2 Open the properties dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties the IP address data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment 1 Navigate in the hardware catalog to the directory PROFINET IO è Additional field devices è I O è VIPA EtherCAT System and co...

Page 307: ...rea to a slot Create the following areas n In 128byte n Out 128byte 3 Select Station è Save and compile The drive is configured in the SPEED7 EtherCAT Manager Sigma 5 Configure EtherCAT drive VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 5 EtherCAT HB00 OPL_SP7 Operation list en 18 30 307 ...

Page 308: ...PEED7 EtherCAT Man ager the corresponding ESI file must be installed The ESI file for the Sigma 5 EtherCAT drive can be found under www yaskawa eu com at Service è Drives Motion Software Download the according ESI file for your drive Unzip this if necessary 4 Open in the SPEED7 EtherCAT Manager via File è ESI Manager the dialogue window ESI Manager 5 In the ESI Manager click at Add File and select...

Page 309: ...n now be config ured 9 You can only edit PDOs in Expert mode Otherwise the buttons are hidden By activating the Expert mode you can switch to advanced setting By activating View è Expert you can switch to the Expert mode 10 Click on the Sigma 5 EtherCAT Slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs VIPA SPEED7 Motion ...

Page 310: ... By de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 5 EtherCAT HB00 OPL_SP7 Operation li...

Page 311: ...1A00 n General Name 1st Transmit PDO mapping Index 0x1A00 n Flags Everything de activated n Direction TxPdo Input activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time 1A01 de activated n Entries Name Index Bit length Status word 0x6041 00 16bit Position actual internal value 0x6063 00 32bit Position actual value 0x6064 00 32bit Torque actu...

Page 312: ...rwise the PDO mappings can not be activated at the same time 1A00 de activated 1A02 de activated 1A03 de activated n Entries Name Index Bit length Touch probe status 0x60B9 00 16bit Touch probe 1 position value 0x60BA 00 32bit Touch probe 2 position value 0x60BC 00 32bit Velocity actual value 0x606C 00 32bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Library...

Page 313: ...se the PDO mappings can not be activated at the same time 1601 de activated 1602 de activated 1603 de activated n Entries Name Index Bit length Control word 0x6040 00 16bit Target position 0x607A 00 32bit Target velocity 0x60FF 00 32bit Modes of operation 0x6060 00 8bit 8bit Touch probe function 0x60B8 00 16bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Libr...

Page 314: ... Bit length Profile velocity 0x6081 00 32bit Profile acceleration 0x6083 00 32bit Profile deceleration 0x6084 00 32bit Close the dialog Edit PDO with OK 16 In PDO assignment activate the PDOs 1 and 2 for the inputs and outputs All sub sequent PDOs must remain de activated If this is not possible please check the respective PDO parameter Exclude 17 In the Device Editor of the SPEED7 EtherCAT Manage...

Page 315: ...nfiguration and status data must be created for each axis of a drive The data block consists of the following data structures UDT 870 VMC_ConfigSigma5EC_REF The data structure describes the structure of the configuration of the drive Specific data structure for Sigma 5 EtherCAT UDT 860 MC_AXIS_REF The data structure describes the structure of the parameters and status informa tion of drives Genera...

Page 316: ...e area of www vipa com 2 Download the Simple Motion Control library from the download area at VIPA Lib 3 Open the dialog window for ZIP file selection via File è Retrieve 4 Select the according ZIP file and click at Open 5 Specify a target directory in which the blocks are to be stored and start the unzip process with OK Open the library after unzipping and drag and drop the following blocks into ...

Page 317: ...rm your input with OK ð The block is created 2 Open DB 10 Axis01 by double click n In Axis01 create the variable Config of type UDT 870 These are specific axis configuration data n In Axis01 create the variable Axis of type UDT 860 During operation all operating data of the axis are stored here Create axis DB VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage S...

Page 318: ...000e 002 MaxVelocityDrive 6 000000e 001 MaxAccelerationDrive 1 500000e 002 MaxDecelerationDrive 1 500000e 002 MaxPosition 1 048500e 003 MinPosition 1 048514e 003 EnableMaxPosition TRUE EnableMinPosition TRUE MinUserPosition InitS5EC1_MinUserPos MaxUserPosition InitS5EC1_MaxUserPos Valid InitS5EC1_Valid Error InitS5EC1_Error ErrorID InitS5EC1_ErrorID Config Axis01 Config Axis Axis01 Axis The Kernel...

Page 319: ...dy AxisEnabled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy A...

Page 320: ...ror by evaluating the ErrorID You have to call the Init block again if you load a new axis DB or you have changed parameters on the Init block Do not continue until the Init block does not report any errors 3 Ensure that the Kernel block FB 870 VMC_KernelSigma5_EC is cyclically called In this way control signals are transmitted to the drive and status messages are reported 4 Program your applicati...

Page 321: ...work the CPU or the CP again Before calling the SPEED7 EtherCAT Manager you have always to save your project with Station è Save and compile 7 Safe your project with Station è Safe and compile 8 Open the SPEED7 EtherCAT Manager 9 Use File è Open to load the configuration from your working directory 10 Close the SPEED7 EtherCAT Manager 11 Save and compile your configuration VIPA SPEED7 Motion contr...

Page 322: ...pe Description Init INPUT BOOL The block is internally reset with an edge 0 1 Existing motion commands are aborted and the block is initialized Config IN_OUT UDT870 Data structure for transferring axis dependent configuration data to the AxisKernel Axis IN_OUT MC_AXIS_REF Data structure for transferring axis dependent information to the AxisKernel and PLCopen blocks 13 2 1 5 3 FB 871 VMC_InitSigma...

Page 323: ...nits 10 4 x increments s2 and back It s valid 10 4 x a increments s2 a u s2 x FactorAcceleration Please also take into account the factor which you can specify on the drive via objects 0x2703 1 and 0x2703 2 This should be 1 OffsetPosition INPUT REAL Offset for the zero position u MaxVelocityApp INPUT REAL Maximum application speed u s The command inputs are checked to the maximum value before exec...

Page 324: ... V1 6 1 or n Siemens SIMATIC Manager from V 5 5 SP2 SPEED7 EtherCAT Manager Simple Motion Control Library n CPU with EtherCAT master e g CPU 015 CEFNR00 n Sigma 7S drive with EtherCAT option card 1 Set the parameters on the drive n The setting of the parameters happens by means of the software tool Sigma Win 2 Hardware configuration in VIPA SPEED7 Studio or Siemens SIMATIC Manager n Configuring a ...

Page 325: ... Multiturn Limit Setting 65535 Pn20E 220Eh ElectronicGear Ratio Numerator 16 Pn210 2210h Electronic Gear Ratio Denominator 1 PnB02 2701h 01 Position User Unit Numerator 1 PnB04 2701h 02 Position User Unit Denominator 1 PnB06 2702h 01 Velocity User Unit Numerator 1 PnB08 2702h 02 Velocity User Unit Denominator 1 PnB0A 2703h 01 Acceleration User Unit Numerator 1 PnB0C 2703h 02 Acceleration User Unit...

Page 326: ...etworking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates a CPU with EtherCAT master functions such as CPU 015 CEFNR00 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 Et...

Page 327: ...T Master Axes The number of axes is not relevant in this example 3 Confirm your input with OK ð The motion control functions are now available in your project CAUTION Please note due to the system with every change to the feature set settings the EtherCAT field bus system and its motion con trol configuration will be deleted from your project Activate motion control functions VIPA SPEED7 Motion co...

Page 328: ...ent ESI files and you can skip this part If your ESI file is not up to date you will find the latest ESI file for the Sigma 7 EtherCAT drive under www yaskawa eu com at Service è Drives Motion Software 1 Download the according ESI file for your drive Unzip this if necessary 2 Navigate to your SPEED7 Studio 3 Open the corresponding dialog window by clicking on Extra è Install device description Eth...

Page 329: ... your drive does not exist you must install the corresponding ESI file as described above ð The Sigma 7 drive is connected to your EC Mastersystem VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7S EtherCAT HB00 OPL_SP7 Operation list en 18 30 329 ...

Page 330: ...igma 7 drive More information about the usage of the SPEED7 EtherCAT Manager may be found in the online help of the SPEED7 Studio 2 Click on the slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs Configure Sigma 7S single axis drive VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sig...

Page 331: ... de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7S EtherCAT HB00 OPL_SP7 Operation list...

Page 332: ...A00 n General Name 1st Transmit PDO mapping Index 0x1A00 n Flags Everything de activated n Direction TxPdo Input activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time 1A01 de activated n Entries Name Index Bit length Status word 0x6041 00 16bit Position actual internal value 0x6063 00 32bit Position actual value 0x6064 00 32bit Torque actua...

Page 333: ...wise the PDO mappings can not be activated at the same time 1A00 de activated 1A02 de activated 1A03 de activated n Entries Name Index Bit length Touch probe status 0x60B9 00 16bit Touch probe 1 position value 0x60BA 00 32bit Touch probe 2 position value 0x60BC 00 32bit Velocity actual value 0x606C 00 32bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Library ...

Page 334: ...e the PDO mappings can not be activated at the same time 1601 de activated 1602 de activated 1603 de activated n Entries Name Index Bit length Control word 0x6040 00 16bit Target position 0x607A 00 32bit Target velocity 0x60FF 00 32bit Modes of operation 0x6060 00 8bit 8bit Touch probe function 0x60B8 00 16bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Libra...

Page 335: ... Bit length Profile velocity 0x6081 00 32Bit Profile acceleration 0x6083 00 32Bit Profile deceleration 0x6084 00 32Bit Close the dialog Edit PDO with OK 8 In PDO assignment activate the PDOs 1 and 2 for the inputs and outputs All sub sequent PDOs must remain de activated If this is not possible please check the respective PDO parameter Exclude 9 In the Device Editor of the SPEED7 EtherCAT Manager ...

Page 336: ...EtherCAT Manager and select the Master tab in the Device editor ð Set a cycle time of at least 4ms for Sigma 7S 400V drives SGD7S xxxDA0 and SGD7S xxxxA0 Otherwise leave the value at 1ms 12 By closing the dialog of the SPEED7 EtherCAT Manager with X the configuration is taken to the SPEED7 Studio 13 2 2 3 2 User program Program structure VIPA SPEED7 Motion control Simple Motion Control Library Usa...

Page 337: ...ges Specific block for Sigma 7 EtherCAT The exchange of the data takes place by means of the axis DB n FB 860 VMC_AxisControl General block for all drives and bus systems Supports simple motion commands and returns all relevant status messages The exchange of the data takes place by means of the axis DB For motion control and status query via the instance data of the block you can link a visualiza...

Page 338: ...e within the CPU at PLC program Program blocks at Add New block select the block type DB block and assign the name Axis01 to it The DB number can freely be selected such as DB10 ð The block is created and opened 2 n In Axis01 create the variable Config of type UDT 872 These are specific axis configuration data n In Axis01 create the variable Axis of type UDT 860 During operation all operating data...

Page 339: ...000e 002 MaxVelocityDrive 6 000000e 001 MaxAccelerationDrive 1 500000e 002 MaxDecelerationDrive 1 500000e 002 MaxPosition 1 048500e 003 MinPosition 1 048514e 003 EnableMaxPosition TRUE EnableMinPosition TRUE MinUserPosition InitS7SEC1_MinUserPos MaxUserPosition InitS7SEC1_MaxUserPos Valid InitS7SEC1_Valid Error InitS7SEC1_Error ErrorID InitS7SEC1_ErrorID Config Axis01 Config Axis Axis01 Axis The K...

Page 340: ...y AxisEnabled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy Ax...

Page 341: ...ion with the FB 860 VMC_AxisControl or with the PLCopen blocks There is the possibility to control your drive via HMI For this a predefined symbol library is available for Movicon to access the VMC_AxisControl function block Ä Chap 13 8 Controlling the drive via HMI page 613 13 2 2 4 Usage in Siemens SIMATIC Manager 13 2 2 4 1 Precondition n Please use for configuration the Siemens SIMATIC Manager...

Page 342: ...avigate to your working directory and install the according GSDML file ð After the installation the EtherCAT Network can be found at PROFINET IO è Additional field devices è I O è VIPA VIPA EtherCAT System The configuration of the PROFINET IO device EtherCAT Network happens by means of the SPEED7 EtherCAT Manager from VIPA This may be found in the service area of www vipa com at Service Support è ...

Page 343: ...therCAT master is to be configured via the sub module X2 PN IO as a virtual PROFINET network 6 Click at the sub module PN IO of the CPU 7 Select Context menu è Insert PROFINET IO System 8 Create with New a new sub net and assign valid address data 9 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 10 Enter at General a Device name The device na...

Page 344: ...V3 0 2 Open the properties dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties the IP address data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment 1 Navigate in the hardware catalog to the directory PROFINET IO è Additional field devices è I O è VIPA EtherCAT System and con...

Page 345: ...ea to a slot Create the following areas n In 128byte n Out 128byte 3 Select Station è Save and compile The drive is configured in the SPEED7 EtherCAT Manager Sigma 7S Configure EtherCAT drive VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7S EtherCAT HB00 OPL_SP7 Operation list en 18 30 345 ...

Page 346: ...EED7 EtherCAT Man ager the corresponding ESI file must be installed The ESI file for the Sigma 7S EtherCAT drive can be found under www yaskawa eu com at Service è Drives Motion Software Download the according ESI file for your drive Unzip this if necessary 4 Open in the SPEED7 EtherCAT Manager via File è ESI Manager the dialogue window ESI Manager 5 In the ESI Manager click at Add File and select...

Page 347: ...n now be con figured 9 You can only edit PDOs in Expert mode Otherwise the buttons are hidden By activating the Expert mode you can switch to advanced setting By activating View è Expert you can switch to the Expert mode 10 Click on the Sigma 7S EtherCAT Slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs VIPA SPEED7 Motion...

Page 348: ... By de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7S EtherCAT HB00 OPL_SP7 Operation l...

Page 349: ...1A00 n General Name 1st Transmit PDO mapping Index 0x1A00 n Flags Everything de activated n Direction TxPdo Input activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time 1A01 de activated n Entries Name Index Bit length Status word 0x6041 00 16bit Position actual internal value 0x6063 00 32bit Position actual value 0x6064 00 32bit Torque actu...

Page 350: ...wise the PDO mappings can not be activated at the same time 1A00 de activated 1A02 de activated 1A03 de activated n Entries Name Index Bit length Touch probe status 0x60B9 00 16bit Touch probe 1 position value 0x60BA 00 32bit Touch probe 2 position value 0x60BC 00 32bit Velocity actual value 0x606C 00 32bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Library ...

Page 351: ...e the PDO mappings can not be activated at the same time 1601 de activated 1602 de activated 1603 de activated n Entries Name Index Bit length Control word 0x6040 00 16bit Target position 0x607A 00 32bit Target velocity 0x60FF 00 32bit Modes of operation 0x6060 00 8bit 8bit Touch probe function 0x60B8 00 16bit Close the dialog Edit PDO with OK VIPA SPEED7 Motion control Simple Motion Control Libra...

Page 352: ... Bit length Profile velocity 0x6081 00 32bit Profile acceleration 0x6083 00 32bit Profile deceleration 0x6084 00 32bit Close the dialog Edit PDO with OK 16 In PDO assignment activate the PDOs 1 and 2 for the inputs and outputs All sub sequent PDOs must remain de activated If this is not possible please check the respective PDO parameter Exclude 17 In the Device Editor of the SPEED7 EtherCAT Manage...

Page 353: ... time of at least 4ms for Sigma 7S 400V drives SGD7S xxxDA0 and SGD7S xxxxA0 Otherwise leave the value at 1ms 20 By closing the SPEED7 EtherCAT Manager with X the configuration is taken to the project You can always edit your EtherCAT configuration in the SPEED7 EtherCAT Manager since the configuration is stored in your project 21 Save and compile your configuration 13 2 2 4 3 User program Program...

Page 354: ...nd returns all relevant status messages The exchange of the data takes place by means of the axis DB For motion control and status query via the instance data of the block you can link a visualization In addition to the FB 860 VMC_AxisControl PLCopen blocks can be used n FB 800 FB 838 PLCopen The PLCopen blocks are used to program motion sequences and status queries General blocks for all drives a...

Page 355: ...freely be chosen such as DB10 Set Shared DB as the Type n Symbolic name Specify Axis01 Confirm your input with OK ð The block is created 2 Open DB10 Axis01 by double click n In Axis01 create the variable Config of type UDT 872 These are specific axis configuration data n In Axis01 create the variable Axis of type UDT 860 During operation all operating data of the axis are stored here Create interr...

Page 356: ...000000e 002 MaxVelocityDrive 6 000000e 001 MaxAccelerationDrive 1 500000e 002 MaxDecelerationDrive 1 500000e 002 MaxPosition 1 048500e 003 MinPosition 1 048514e 003 EnableMaxPosition TRUE EnableMinPosition TRUE MinUserPosition InitS5EC1_MinUserPos MaxUserPosition InitS5EC1_MaxUserPos Valid InitS5EC1_Valid Error InitS5EC1_Error ErrorID InitS5EC1_ErrorID Config Axis01 Config Axis Axis01 Axis The Ker...

Page 357: ...y AxisEnabled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy Ax...

Page 358: ...ror by evaluating the ErrorID You have to call the Init block again if you load a new axis DB or you have changed parameters on the Init block Do not continue until the Init block does not report any errors 3 Ensure that the Kernel block FB 872 VMC_KernelSigma7_EC is called cyclically In this way control signals are transmitted to the drive and status messages are reported 4 Program your applicati...

Page 359: ...ork the CPU or the CP again Before calling the SPEED7 EtherCAT Manager you have always to save your project with Station è Save and compile 7 Safe your project with Station è Safe and compile 8 Open the SPEED7 EtherCAT Manager 9 Use File è Open to load the configuration from your working directory 10 Close the SPEED7 EtherCAT Manager 11 Save and compile your configuration VIPA SPEED7 Motion contro...

Page 360: ... Description Init INPUT BOOL The block is internally reset with an edge 0 1 Existing motion commands are aborted and the block is initialized Config IN_OUT UDT872 Data structure for transferring axis dependent configuration data to the AxisKernel Axis IN_OUT MC_AXIS_REF Data structure for transferring axis dependent information to the AxisKernel and PLCopen blocks 13 2 2 5 3 FB 873 VMC_InitSigma7S...

Page 361: ...ive units 10 4 x increments s2 and back It s valid 10 4 x a increments s2 a u s2 x FactorAcceleration Please also take into account the factor which you can specify on the drive via objects 0x2703 1 and 0x2703 2 This should be 1 OffsetPosition INPUT REAL Offset for the zero position u MaxVelocityApp INPUT REAL Maximum application speed u s The command inputs are checked to the maximum value before...

Page 362: ...1 or n Siemens SIMATIC Manager from V 5 5 SP2 SPEED7 EtherCAT Manager Simple Motion Control Library n CPU with EtherCAT master e g CPU 015 CEFNR00 n Sigma 7W Double axis drive with EtherCAT option card 1 Set the parameters on the drive n The setting of the parameters happens by means of the software tool Sigma Win 2 Hardware configuration in VIPA SPEED7 Studio or Siemens SIMATIC Manager n Configur...

Page 363: ... Unit Numerator 1 PnB08 2702h 02 Velocity User Unit Denominator 1 PnB0A 2703h 01 Acceleration User Unit Numerator 1 PnB0C 2703h 02 Acceleration User Unit Denominator 1 Axis 2 Module 2 24Bit Encoder Servopack Parameter Address digit Name Value Pn205 2A05h Multiturn Limit Setting 65535 Pn20E 2A0Eh Electronic Gear Ratio Numerator 16 Pn210 2A10h Electronic Gear Ratio Denominator 1 PnB02 2F01h 01 Posit...

Page 364: ...etworking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates a CPU with EtherCAT master functions such as CPU 015 CEFNR00 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 Et...

Page 365: ...T Master Axes The number of axes is not relevant in this example 3 Confirm your input with OK ð The motion control functions are now available in your project CAUTION Please note due to the system with every change to the feature set settings the EtherCAT field bus system and its motion con trol configuration will be deleted from your project Activate motion control functions VIPA SPEED7 Motion co...

Page 366: ...ent ESI files and you can skip this part If your ESI file is not up to date you will find the latest ESI file for the Sigma 7 EtherCAT drive under www yaskawa eu com at Service è Drives Motion Software 1 Download the according ESI file for your drive Unzip this if necessary 2 Navigate to your SPEED7 Studio 3 Open the corresponding dialog window by clicking on Extra è Install device description Eth...

Page 367: ... does not exist you must install the corre sponding ESI file as described above ð The Sigma 7W double axis drive is connected to your EC master system VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18 30 367 ...

Page 368: ...re information about the usage of the SPEED7 EtherCAT Manager may be found in the online help of the SPEED7 Studio 2 Click on the slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialogue shows a list of the PDOs for Module 1 axis 1 and Module 2 axis 2 Configure Sigma 7W double axis drive VIPA SPEED7 Motion control Simple Motion Control Library Usage S...

Page 369: ...ings By de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operati...

Page 370: ... The entry is accepted with OK and is listed in the list of entries n Delete This allows you to delete a selected entry n Edit This allows you to edit the general data of an entry n Move Up Down This allows you to move the selected entry up or down in the list VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18...

Page 371: ... 0x68F4 00 32bit Modes of operation display 0x6061 00 0x6861 00 8bit 8bit Digital inputs 0x60FD 00 0x68FD 00 32bit Inputs 2nd Transmit PDO Module 1 SGD7 2nd Transmit PDO mapping Module 2 SGD7 2nd Transmit PDO mapping Name Module 1 SGD7 2nd Transmit PDO mapping Name Module 2 SGD7 2nd Transmit PDO mapping Index 0x1A01 Index 0x1A11 Flags Everything de activated Direction TxPdo Input activated Exclude...

Page 372: ...Modes of operation 0x6060 00 0x6860 00 8bit 8bit Touch probe function 0x60B8 00 0x68B8 00 16bit Outputs 2nd Receive PDO Module 1 SGD7 2nd Receive PDO Module 2 SGD7 2nd Receive PDO Name Module 1 SGD7 2nd Receive PDO mapping Name Module 2 SGD7 2nd Receive PDO mapping Index 0x1601 Index 0x1611 Flags Everything de activated Direction RxPdo Output activated Exclude 1600 1602 1603 de activated 1610 1612...

Page 373: ...ing mode 8 Select the Process image tab in the device editor using the arrow key and note the following PDO start addresses for the parameters of the block FB 874 VMC_InitSigma7W_EC n Module 1 S7 Input address à M1_PdoInputs here 0 n Module 2 S7 Input address à M2_PdoInputs here 36 n Module 1 S7 Output address à M1_PdoOutputs here 0 n Module 2 S7 Output address à M2_PdoOutputs here 36 VIPA SPEED7 ...

Page 374: ...east 4ms for Sigma 7W 400V drives 10 By closing the dialog of the SPEED7 EtherCAT Manager with X the configuration is taken to the SPEED7 Studio 13 2 3 3 2 User program Program structure VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18 30 374 ...

Page 375: ...r each axis Specific block for Sigma 7 EtherCAT The exchange of the data takes place by means of the axis DB n FB 860 VMC_AxisControl General block for all drives and bus systems The FB 860 VMC_AxisControl must be called for each axis Supports simple motion commands and returns all relevant status messages The exchange of the data takes place by means of the axis DB For motion control and status q...

Page 376: ...gn the name Axis01 to it The DB number can freely be selected such as DB 10 ð The block is created and opened 2 n In Axis01 create the variable Config of type UDT 872 These are specific axis configuration data n In Axis01 create the variable Axis of type UDT 860 During operation all operating data of the axis are stored here 1 Add another DB as your axis DB to your project and assign it the name A...

Page 377: ...configuration data n In Axis02 create the variable Axis of type UDT 860 During operation all operating data of the axis are stored here VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18 30 377 ...

Page 378: ...e 1 500000e 002 M1_MaxPosition 1 048500e 003 M1_MinPosition 1 048514e 003 M1_EnableMaxPosition TRUE M1_EnableMinPosition TRUE M2_PdoInputs 36 EtherCAT Manager Module2 S7 Input address M2_PdoOutputs 36 EtherCAT Manager Module2 S7 Output address M2_EncoderType 2 M2_EncoderResolutionBits 20 M2_FactorPosition 1 048576e 006 M2_FactorVelocity 1 048576e 006 M2_FactorAcceleration 1 048576e 002 M2_OffsetPo...

Page 379: ...C_KernelSigma7_EC DB 1872 for axis 2 Ä Chap 13 2 2 5 2 FB 872 VMC_KernelSigma7_EC Sigma 7 EtherCAT Kernel page 360 ð CALL VMC_KernelSigma7_EC DB 872 Init KernelS7WEC1_Init Config Axis01 Config Axis Axis01 Axis CALL VMC_KernelSigma7_EC DB 1872 Init KernelS7WEC2_Init Config Axis02 Config Axis Axis02 Axis Connecting the kernel for the respective axis VIPA SPEED7 Motion control Simple Motion Control L...

Page 380: ...ed AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy AxCtrl1_CmdBu...

Page 381: ...rted 4 Program your application with the FB 860 VMC_AxisControl or with the PLCopen blocks for each axis There is the possibility to control your drive via HMI For this a predefined symbol library is available for Movicon to access the VMC_AxisControl function block Ä Chap 13 8 Controlling the drive via HMI page 613 13 2 3 4 Usage in Siemens SIMATIC Manager 13 2 3 4 1 Precondition n Please use for...

Page 382: ...avigate to your working directory and install the according GSDML file ð After the installation the EtherCAT Network can be found at PROFINET IO è Additional field devices è I O è VIPA VIPA EtherCAT System The configuration of the PROFINET IO device EtherCAT Network happens by means of the SPEED7 EtherCAT Manager from VIPA This may be found in the service area of www vipa com at Service Support è ...

Page 383: ...therCAT master is to be configured via the sub module X2 PN IO as a virtual PROFINET network 6 Click at the sub module PN IO of the CPU 7 Select Context menu è Insert PROFINET IO System 8 Create with New a new sub net and assign valid address data 9 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 10 Enter at General a Device name The device na...

Page 384: ...V3 0 2 Open the properties dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties the IP address data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment 1 Navigate in the hardware catalog to the directory PROFINET IO è Additional field devices è I O è VIPA EtherCAT System and con...

Page 385: ... Create the following areas n In 128byte n Out 128byte 3 Select Station è Save and compile The double axis drive is configured in the SPEED7 EtherCAT Manager Configure Sigma 7W EtherCAT double axis drive VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18 30 385 ...

Page 386: ...ED7 EtherCAT Man ager the corresponding ESI file must be installed The ESI file for the Sigma 7W EtherCAT double axis drive can be found under www yaskawa eu com at Service è Drives Motion Software Download the according ESI file for your drive Unzip this if necessary 4 Open in the SPEED7 EtherCAT Manager via File è ESI Manager the dialogue window ESI Manager 5 In the ESI Manager click at Add File...

Page 387: ...aster and can now be configured 9 You can only edit PDOs in Expert mode Otherwise the buttons are hidden By activating the Expert mode you can switch to advanced setting By activating View è Expert you can switch to the Expert mode 10 Click on the Sigma 7W EtherCAT Slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialogue shows a list of the PDOs VIPA ...

Page 388: ...tings By de activating already activated PDOs you can release the processing of locked PDOs ð The dialog Edit PDO is opened Please check the PDO settings listed here and adjust them if necessary Please also take into account the order of the Entries and add them accordingly VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operat...

Page 389: ... The entry is accepted with OK and is listed in the list of entries n Delete This allows you to delete a selected entry n Edit This allows you to edit the general data of an entry n Move Up Down This allows you to move the selected entry up or down in the list VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18...

Page 390: ... 0x68F4 00 32bit Modes of operation display 0x6061 00 0x6861 00 8bit 8bit Digital inputs 0x60FD 00 0x68FD 00 32bit Inputs 2nd Transmit PDO Module 1 SGD7 2nd Transmit PDO mapping Module 2 SGD7 2nd Transmit PDO mapping Name Module 1 SGD7 2nd Transmit PDO mapping Name Module 2 SGD7 2nd Transmit PDO mapping Index 0x1A01 Index 0x1A11 Flags Everything de activated Direction TxPdo Input activated Exclude...

Page 391: ...Modes of operation 0x6060 00 0x6860 00 8bit 8bit Touch probe function 0x60B8 00 0x68B8 00 16bit Outputs 2nd Receive PDO Module 1 SGD7 2nd Receive PDO Module 2 SGD7 2nd Receive PDO Name Module 1 SGD7 2nd Receive PDO mapping Name Module 2 SGD7 2nd Receive PDO mapping Index 0x1601 Index 0x1611 Flags Everything de activated Direction RxPdo Output activated Exclude 1600 1602 1603 de activated 1610 1612...

Page 392: ...ting mode 16 Select the Process image tab in the device editor using the arrow key and note the following PDO start addresses for the parameters of the block FB 874 VMC_InitSigma7W_EC n Module 1 S7 Input address à M1_PdoInputs here 0 n Module 2 S7 Input address à M2_PdoInputs here 36 n Module 1 S7 Output address à M1_PdoOutputs here 0 n Module 2 S7 Output address à M2_PdoOutputs here 36 VIPA SPEED...

Page 393: ...e EtherCAT configuration is taken to the project You can always edit your EtherCAT configuration in the SPEED7 EtherCAT Manager since the configuration is stored in your project 19 Save and compile your configuration 13 2 3 4 3 User program Program structure VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 EtherCAT Usage Sigma 7W EtherCAT HB00 OPL_SP7 Operation list en 18 3...

Page 394: ...l must be called for each axis Supports simple motion commands and returns all relevant status messages The exchange of the data takes place by means of the axis DB For motion control and status query via the instance data of the block you can link a visualization In addition to the FB 860 VMC_AxisControl PLCopen blocks can be used n FB 800 FB 838 PLCopen The PLCopen blocks are used to program mot...

Page 395: ...T 872 These are specific axis configuration data n In Axis01 create the variable Axis of type UDT 860 During operation all operating data of the axis are stored here 1 Add another DB as your axis DB to your project and assign it the name Axis02 The DB number can freely be selected such as DB11 ð The block is created 2 Open DB 11 Axis02 by double click n In Axis02 create the variable Config of type...

Page 396: ...e 1 500000e 002 M1_MaxPosition 1 048500e 003 M1_MinPosition 1 048514e 003 M1_EnableMaxPosition TRUE M1_EnableMinPosition TRUE M2_PdoInputs 36 EtherCAT Manager Module2 S7 Input address M2_PdoOutputs 36 EtherCAT Manager Module2 S7 Output address M2_EncoderType 2 M2_EncoderResolutionBits 20 M2_FactorPosition 1 048576e 006 M2_FactorVelocity 1 048576e 006 M2_FactorAcceleration 1 048576e 002 M2_OffsetPo...

Page 397: ...C_KernelSigma7_EC DB 1872 for axis 2 Ä Chap 13 2 2 5 2 FB 872 VMC_KernelSigma7_EC Sigma 7 EtherCAT Kernel page 360 ð CALL VMC_KernelSigma7_EC DB 872 Init KernelS7WEC1_Init Config Axis01 Config Axis Axis01 Axis CALL VMC_KernelSigma7_EC DB 1872 Init KernelS7WEC2_Init Config Axis02 Config Axis Axis02 Axis Connecting the kernel for the respective axis VIPA SPEED7 Motion control Simple Motion Control L...

Page 398: ...ed AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy AxCtrl1_CmdBu...

Page 399: ...ized To do this call the Init block FB 874 VMC_InitSigma7W_EC with Enable TRUE ð The output Valid returns TRUE In the event of a fault you can determine the error by evaluating the ErrorID You have to call the Init block again if you load a new axis DB or you have changed parameters on the Init block Do not continue until the Init block does not report any errors 3 Ensure that the Kernel block FB ...

Page 400: ... of the Target CPU and delete the System data 6 Open the hardware configuration of the Target CPU Adapt the IP address data or re network the CPU or the CP again Before calling the SPEED7 EtherCAT Manager you have always to save your project with Station è Save and compile 7 Safe your project with Station è Safe and compile 8 Open the SPEED7 EtherCAT Manager 9 Use File è Open to load the configura...

Page 401: ...ock is internally reset with an edge 0 1 Existing motion commands are aborted and the block is initialized Config IN_OUT UDT872 Data structure for transferring axis dependent configuration data to the AxisKernel Axis IN_OUT MC_AXIS_REF Data structure for transferring axis dependent information to the AxisKernel and PLCopen blocks 13 2 3 5 3 FB 874 VMC_InitSigma7W_EC Sigma 7W EtherCAT Initializatio...

Page 402: ...se also take into account the factor which you can specify on the drive via objects 0x2702 1 and 0x2702 2 This should be 1 M1_FactorAcceleration INPUT REAL Factor to convert the acceleration of user units u s2 in drive units 10 4 x increments s2 and back of axis 1 It s valid 10 4 x a increments s2 a u s2 x FactorAcceleration Please also take into account the factor which you can specify on the dri...

Page 403: ... It s valid v increments s v u s x FactorVelocity Please also take into account the factor which you can specify on the drive via objects 0x2702 1 and 0x2702 2 This should be 1 M2_FactorAcceleration INPUT REAL Factor to convert the acceleration of user units u s2 in drive units 10 4 x increments s2 and back of axis 2 It s valid 10 4 x a increments s2 a u s2 x FactorAcceleration Please also take in...

Page 404: ...n the maximum encoder value of 0x7FFFFFFF and the FactorPosition u M2_MinUserPosition OUTPUT REAL Minimum user position for axis 2 based on the minimum encoder value of 0x80000000 and the FactorPosition u M2_MaxUserPosition OUTPUT REAL Maximum user position for axis 2 based on the maximum encoder value of 0x7FFFFFFF and the FactorPosition u Valid OUTPUT BOOL Initialization n TRUE Initialization is...

Page 405: ...ioning you have to adapt your drive to your applica tion with the Sigma Win software tool More may be found in the manual of your drive The following table shows all parameters which do not correspond to the default values The following parameters must be set via Sigma Win to match the Simple Motion Con trol Library Sigma 5 7 Servopack Parameter Address digit Name Value Pn000 2000h 01 Basic Functi...

Page 406: ...ets signal off Pn50B 250Bh 03 N CL Signal Mapping 8 Sets signal off 13 3 3 Wiring The following figure shows the connection of a Sigma 5 servo drive via Pulse Train to a system MICRO CPU M13C In this example the pulse train channel 0 X2 pin 8 is con nected Please use X2 pin 7 to connect to channel 1 Sample application VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 Pulse T...

Page 407: ...L DC 24V power supply for Pulse Train X1 Func tion Type LED green Description 6 DI 0 2 I Digital input DI 2 8 DI 0 0 I Digital input DI 0 9 0 V I 3M GND power section supply for on board DI 10 DC 24V I 3L DC 24V power section supply for on board DI X6 Func tion Type LED green Description 1 Sys DC 24V I 1L DC 24V for electronic section supply 2 Sys 0V I 1M GND for electronic section supply VIPA SPE...

Page 408: ...ct name ð A new project is created and the view Devices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates your CPU with Pulse Train functionality like the System MICRO CPU M13 CCF0000 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the proje...

Page 409: ...ith the set IP address data For parametrization of the I O periphery and the technological functions the corre sponding sub modules of the CPU are to be used For pulse train output the sub module count must be switched to Pulse width modulation 1 Click in the Project tree at PLC Device configuration 2 Click in the Device configuration at X27 Count and select Context menu è Components properties ð ...

Page 410: ...n the Simple Motion Control library at Blocks and drag and drop the following blocks into Program blocks of the Project tree n Sigma5 7 Pulse Train FB 875 VMC_AxisControl_PT Ä Chap 13 3 7 1 FB 875 VMC_AxisCon trol_PT Axis control via Pulse Train page 423 Copy block to project VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 Pulse Train Usage in VIPA SPEED7 Studio HB00 OPL_S...

Page 411: ...00 5 JogPositive M 100 6 JogNegative M 100 7 PositionDistance MD 102 Velocity MD 106 S_On A 136 7 S_Direction A 136 2 S_AlarmReset A 136 6 MinUserDistance MD 110 MaxUserDistance MD 114 MinUserVelocity MD 118 MaxUserVelocity MD 122 AxisReady M 101 3 AxisEnabled M 101 4 AxisError M 101 5 AxisErrorID MW 126 DriveError M 101 6 CmdActive MB 128 CmdDone M 130 0 CmdBusy M 130 1 CmdAborted M 130 2 CmdErro...

Page 412: ...ion n Please use for configuration the Siemens SIMATIC Manager V 5 5 SP2 and up n The configuration of the VIPA CPU with Pulse Train functionality happens in the Sie mens SIMATIC Manager by means of a virtual PROFINET IO device n The PROFINET IO Device is to be installed in the hardware catalog by means of a GSDML The installation of the PROFINET VIPA IO device happens in the hardware catalog with...

Page 413: ... sub module PN IO of the CPU 5 Select Context menu è Insert PROFINET IO System 6 Create with New a new sub net and assign valid address data 7 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 8 Enter at General a Device name The device name must be unique at the Ethernet subnet Add CPU in the project VIPA SPEED7 Motion control Simple Motion Con...

Page 414: ...ess data are not accepted without assign ment For parametrization of the input output periphery and the technological functions the cor responding sub modules of the Siemens CPU 314C 2 PN DP 314 6EH04 0AB0 V3 3 is to be used For pulse train output the sub module count must be switched to Pulse width modulation If you are using a channel other than channel 0 you must adapt it in the hardware config...

Page 415: ... blocks are to be stored and start the unzip process with OK Open the library after unzipping and drag and drop the following blocks into Blocks of your project n Sigma5 7 Pulse Train FB 875 VMC_AxisControl_PT Ä Chap 13 3 7 1 FB 875 VMC_AxisCon trol_PT Axis control via Pulse Train page 423 1 Open the OB 1 and program the Call FB 875 DB 875 ð The block call is created and the parameters are listed ...

Page 416: ...puts which are connected to the drive s digital outputs These can be deter mined via the sub module DI24 DO16 of the CPU The addresses of S_On S_Direction and S_AlarmReset are obtained from the addresses of the outputs which are connected to the digital inputs of the drive These can be determined via the sub module DI24 DO16 of the CPU 1 Choose the Siemens SIMATIC Manager and transfer your project...

Page 417: ...r working directory 4 Start the Siemens TIA Portal 5 Close all the projects 6 Switch to the Project view 7 Select Options è Install general station description file GSD 8 Navigate to your working directory and install the according GSDML file ð After the installation the hardware catalog is refreshed and the Siemens TIA Portal is closed After restarting the Siemens TIA Portal the according PROFINE...

Page 418: ...are catalog at Other field devices PROFINET IO VIPA GmbH VIPA MICRO PLC Connect the slave system to the CPU by dragging dropping it from the hardware catalog to the Network view and connecting it via PROFINET to the CPU 3 Click in the Network view at the PROFINET part of the Siemens CPU and enter at valid IP address data in Properties at Ethernet address in the area IP protocol 4 Enter at PROFINET...

Page 419: ... Property dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties at Ethernet address the IP address data which you have assigned before You get valid IP address parameters from your system administrator 1 Ethernet PG OP channel Device overview Module Slot Type PLC 2 CPU 314C 2PN DP Configuration of Ethernet PG OP channel VIPA SPEED7 Motion control Simple Motion Control Library U...

Page 420: ...d select Context menu è Compile è All 13 3 6 3 User program 1 Go to the service area of www vipa com 2 Download the Simple Motion Control library from the download area at VIPA Lib The library is available as packed zip file for the corresponding TIA Portal version 3 Start your un zip application with a double click on the file TIA_Vxx zip and copy all the files and folders in a work directory for...

Page 421: ...U at Programming blocks the OB 1 and pro gram the Call FB 875 DB 875 ð The dialog Add instance data block opens 2 Set the number for the instance data block if not already done and close the dialog with OK ð The block call is created and the parameters are listed Copy blocks into project OB 1 Configuration of the axis VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 Pulse T...

Page 422: ...rm are derived from the addresses of the inputs which are connected to the drive s digital outputs These can be deter mined via the sub module DI24 DO16 of the CPU The addresses of S_On S_Direction and S_AlarmReset are obtained from the addresses of the outputs which are connected to the digital inputs of the drive These can be determined via the sub module DI24 DO16 of the CPU 1 Select Edit è Com...

Page 423: ...berPWM INPUT INT Channel number of the PWM output which is used for the control of the Pulse Train input of the servo signal PULS S_Ready INPUT BOOL n Digital input for connecting the S_Ready signal S RDY TRUE Servo is ready for the S_On signal S_Alarm INPUT BOOL n Digital input for connecting the S_Alarm signal ALM FALSE if the servo has detected an error FactorPosition INPUT REAL Factor for conv...

Page 424: ...al output for controlling the S_Direction signal SIGN TRUE Presetting of the direction of rotation positive direc tion for the servo FALSE Presetting of the direction of rotation negative direc tion for the servo S_AlarmReset OUTPUT BOOL n Digital output for controlling the S_AlarmReset signal ALM RST TRUE Alarms are reset in the servo FALSE Alarms in the servo remain MinUserDis tance OUTPUT REAL ...

Page 425: ...r on the drive TRUE An error has occurred The axis is disabled CmdActive OUTPUT BYTE n Command 0 no Cmd active 1 STOP 2 MvVelocity 3 MvRelative 4 JogPos 5 JogNeg CmdDone OUTPUT BOOL n Status Done TRUE Job ended without error CmdBusy OUTPUT BOOL n Status busy TRUE Job is running CmdAborted OUTPUT BOOL n Status Aborted TRUE The job was aborted during processing by another job Note CmdAborted is rese...

Page 426: ...position of user units into drive units incre ments and back Resolution Number of increments per user unit Resolution 220 1048576 Numerator Numerator Electronic Gear Ratio Pn20E of the servo parameter Numerator 1024 Denominator Denominator Electronic Gear Ratio Pn210 of the servo parameter Denominator 1 Example minimum distance MinPos Minimum distance in rotations Resolution Number of increments p...

Page 427: ...of FactorVelocity is only valid if servo parameter Refer ence Pulse Multiplier Pn218 1 Time Time for 1 revolution in μs Numerator Numerator Electronic Gear Ratio Pn20E of the servo parameter Denominator Denominator Electronic Gear Ratio Pn210 of the servo parameter Resolution Number of increments per user unit FactorVelocity VIPA SPEED7 Motion control Simple Motion Control Library Usage Sigma 5 7 ...

Page 428: ...er unit Resolution 220 1048576 Example User unit for velocity revolution s FactorVelocity Factor for converting of user units into drive units increments and back Time Time for 1 revolution in μs Time 1s 106µs Numerator Numerator Electronic Gear Ratio Pn20E of the servo parameter Numerator 1024 Denominator Denominator Electronic Gear Ratio Pn210 of the servo parameter Denominator 1 Resolution Numb...

Page 429: ...pExecute is set no further pulses are generated and all commands are blocked n Precondition The drive is switched on and AxisReady TRUE n With MvVelocityExecute you can bring the axis to rotate with constant velocity n You specify the velocity via Velocity n By setting 0 the axis stops as well as with StopExecute n The direction of rotation is determined by the sign of Velocity n The Velocity valu...

Page 430: ...ing the CPU 3 Programming in the VIPA SPEED7 Studio Siemens SIMATIC Manager or Siemens TIA Portal n VMC_AxisControlV1000PWM block for configuration and communication with the axis which is connected via PWM 13 4 2 Set the parameters on the inverter drive CAUTION Before the commissioning you have to adapt your inverter drive to your application with the Drive Wizard software tool More may be found ...

Page 431: ...rain monitor selection n 102 Output frequency H6 07 Pulse train monitor scaling n 20000Hz No Parameters depending on the application Example C1 01 Acceleration time 1 n 10 00s C1 02 Deceleration time 1 n 10 00s C1 10 Accel Decel time setting unit n 0 0 01 second units C1 11 Accel Decel switching frequency n 0 0Hz O1 02 Monitor selection after power up n 1 Frequency reference O1 03 Display scaling ...

Page 432: ... example the PWM channel 0 X2 pin 8 is connected Please use X2 pin 7 to connect to channel 1 R Resistor Value max 470Ω Power dissipation min 0 6W Resistance example Metal film resistor 0207 wired with 0 6W power dissipation Cable length max 20m Sample application VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via PWM Wiring HB00 OPL_SP7 Operation list en 18 30 432 ...

Page 433: ...0 25W Resistance example Carbon film resistor 0207 wired with 0 25W power dissipation 13 4 4 Usage in VIPA SPEED7 Studio 13 4 4 1 Hardware configuration Please use the SPEED7 Studio V1 7 1 and up for the configuration Sample application Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via PWM Usage in VIPA SPEED7 Studio HB00 OPL_SP7 Operation lis...

Page 434: ...vices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates your CPU with PWM functionality like the System MICRO CPU M13 CCF0000 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive ...

Page 435: ...annel with the set IP address data For parametrization of the I O periphery and the technological functions the corre sponding sub modules of the CPU are to be used For PWM output the sub module count must be switched to Pulse width modulation 1 Click in the Project tree at PLC Device configuration 2 Click in the Device configuration at X27 Count and select Context menu è Components properties ð T...

Page 436: ...n the Simple Motion Control library at Blocks and drag and drop the following blocks into Program blocks of the Project tree n V1000 PWM FB885 VMC_AxisControlV1000PWM Ä Chap 13 4 7 1 FB 885 VMC_AxisControlV1000_PWM Axis control over PWM page 449 Copy block to project VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via PWM Usage in VIPA SPEED7 Studio HB00 OPL_SP7 Opera...

Page 437: ...Run Ax1_S1_ForwardRun I_S2_ReverseRun Ax1_S2_ReverseRun I_S4_AlarmReset Ax1_S4_AlarmReset MinUserVelocity Ax1_MinUserVelocity MaxUserVelocity Ax1_MaxUserVelocity AxisReady Ax1_AxisReady AxisEnabled Ax1_AxisEnabled AxisError Ax1_AxisError AxisErrorID Ax1_AxisErrorID DriveError Ax1_DriveError CmdActive Ax1_CmdActive CmdDone Ax1_CmdDone CmdBusy Ax1_CmdBusy CmdAborted Ax1_CmdAborted CmdError Ax1_CmdEr...

Page 438: ...ration of the VIPA CPU with PWM functionality happens in the Siemens SIMATIC Manager by means of a virtual PROFINET IO device n The PROFINET IO Device is to be installed in the hardware catalog by means of a GSDML The installation of the PROFINET VIPA IO device happens in the hardware catalog with the following approach 1 Go to the service area of www vipa com 2 Download the configuration file for...

Page 439: ... sub module PN IO of the CPU 5 Select Context menu è Insert PROFINET IO System 6 Create with New a new sub net and assign valid address data 7 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 8 Enter at General a Device name The device name must be unique at the Ethernet subnet Add CPU in the project VIPA SPEED7 Motion control Simple Motion Con...

Page 440: ... IP address data are not accepted without assign ment For parametrization of the input output periphery and the technological functions the cor responding sub modules of the Siemens CPU 314C 2 PN DP 314 6EH04 0AB0 V3 3 is to be used For PWM output the sub module count must be switched to Pulse width modulation If you are using a channel other than channel 0 you must adapt it in the hardware config...

Page 441: ... n V1000 PWM FB885 VMC_AxisControlV1000PWM Ä Chap 13 4 7 1 FB 885 VMC_AxisControlV1000_PWM Axis control over PWM page 449 If you are using a channel other than channel 0 you must adapt it in the hardware config uration and in your user program 1 Open in the Project tree within the CPU at PLC program Programming blocks the OB 1 and program the Call FB 885 DB 885 ð The dialog Add instance data block...

Page 442: ...es of the inputs which are connected to the digital outputs of the drive These can be determined via the sub module X25 DI DIO of the CPU The addresses of I_S1_ForwardRun I_S2_ReverseRun and I_S4_AlarmReset are obtained from the addresses of the outputs which are connected to the dig ital inputs of the drive These can be determined via the sub module X25 DI DIO of the CPU 1 Choose the Siemens SIMA...

Page 443: ... 7 Select Options è Install general station description file GSD 8 Navigate to your working directory and install the according GSDML file ð After the installation the hardware catalog is refreshed and the Siemens TIA Portal is closed After restarting the Siemens TIA Portal the according PROFINET IO device can be found at Other field devices PROFINET IO VIPA GmbH VIPA MICRO PLC Thus the VIPA compo...

Page 444: ...re catalog at Other field devices PROFINET IO VIPA GmbH VIPA MICRO PLC Connect the slave system to the CPU by dragging dropping it from the hardware catalog to the Network view and connecting it via PROFINET to the CPU 3 Click in the Network view at the PROFINET part of the Siemens CPU and enter at valid IP address data in Properties at Ethernet address in the area IP protocol 4 Enter at PROFINET ...

Page 445: ... Property dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties at Ethernet address the IP address data which you have assigned before You get valid IP address parameters from your system administrator 1 Ethernet PG OP channel Device overview Module Slot Type PLC 2 CPU 314C 2PN DP Configuration of Ethernet PG OP channel VIPA SPEED7 Motion control Simple Motion Control Library U...

Page 446: ...d select Context menu è Compile è All 13 4 6 3 User program 1 Go to the service area of www vipa com 2 Download the Simple Motion Control library from the download area at VIPA Lib The library is available as packed zip file for the corresponding TIA Portal version 3 Start your un zip application with a double click on the file TIA_Vxx zip and copy all the files and folders in a work directory for...

Page 447: ...ur user program 1 Open in the Project tree within the CPU at Programming blocks the OB 1 and pro gram the Call FB 885 DB 885 ð The dialog Add instance data block opens 2 Set the number for the instance data block if not already done and close the dialog with OK ð The block call is created and the parameters are listed Copy blocks into project OB 1 Configuration of the axis VIPA SPEED7 Motion contr...

Page 448: ...e digital outputs of the drive These can be determined via the sub module X25 DI DIO of the CPU The addresses of I_S1_ForwardRun I_S2_ReverseRun and I_S4_AlarmReset are obtained from the addresses of the outputs which are connected to the dig ital inputs of the drive These can be determined via the sub module X25 DI DIO of the CPU 1 Select Edit è Compile and transfer the project into your CPU You ...

Page 449: ...he status of a reset started with AxisReset is not indi cated at the outputs CmdActive CmdDone CmdBusy CmdAborted CmdError and CmdErrorID StopExecute INPUT BOOL n Stop axis Edge 0 1 Stopping of the axis is started Note StopExecute 1 No other command can be started MvVelocityExe cute INPUT BOOL n Start moving the axis Edge 0 1 The axis is accelerated decelerated to the speed specified JogPositive I...

Page 450: ...us axis TRUE Axis is switched on and accepts motion commands FALSE Axis is not switched on and does not accepts motion commands AxisError OUTPUT BOOL n Error on axis TRUE An error has occurred Additional error information can be found in the parameter AxisErrorID The axis is locked S_On FALSE and AxisEnabled FALSE Command is not executed AxisErrorID OUTPUT WORD Additional error information Ä Chap ...

Page 451: ...ors are reported via DriveError n You can stop an axis in motion by setting StopExecute n As long as StopExecute is set no further pulses are generated and all commands are blocked n Precondition The axis is switched on and AxisReady TRUE n With MvVelocityExecute you can bring the axis to rotate with constant velocity n You specify the velocity via Velocity n By setting 0 the axis stops as well as...

Page 452: ...nication manager n Connect the block for initializing the inverter drive n Connecting the blocks for motion sequences 13 5 2 Set the parameters on the inverter drive CAUTION Before the commissioning you have to adapt your inverter drive to your application with the Drive Wizard software tool More may be found in the manual of your inverter drive The following table shows all parameters which do no...

Page 453: ...ion for the MEM OBUS Modbus register 0025h 0 1 By default the resolution is set to 0 1V increments 0 n 0 0 1V increments n 1 1V increments H5 11 ENTER function for connections 0 1 n 1 Enter command not required H5 12 Selection start command method 0 1 n 1 Run Stop B1 01 Input source frequency setpoint 1 0 1 2 3 4 n 2 MEMOBUS Modbus communication B1 02 Input source start command 1 0 1 2 3 n 2 MEMOB...

Page 454: ...ust be set to 1 n The serial line must be terminated at its end with a terminator To activate it you must set switch S2 to ON on the corresponding inverter drive For a trouble free data traffic use a terminating resistor of approx 120W at the CPU such as the PROFIBUS connector from VIPA Never connect the cable shield and the M5V pin 5 together due to the compensation currents the interfaces could ...

Page 455: ... power supply and a short start up time or after an overall reset the interface has MPI functionality You can activate the PtP functionality via the hard ware configuration Ä Chap 13 5 4 Usage in VIPA SPEED7 Studio page 457 Ä Chap 13 5 5 Usage in Siemens SIMATIC Manager page 471 Ä Chap 13 5 6 Usage in Siemens TIA Portal page 486 System SLIO CPU 014 017 n The CPU has the interface X2 PtP MPI which ...

Page 456: ... J1000 V1000 A1000 GA700 More can be found in the according manual Connection of the YASKAWA inverter drives VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via Modbus RTU Wiring HB00 OPL_SP7 Operation list en 18 30 456 ...

Page 457: ...ject is created and the view Devices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates your System MICRO CPU M13 CCF0000 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usa...

Page 458: ... Local components After transferring your project your CPU can be accessed via Ethernet PG OP channel with the set IP address data 1 Click in the Project tree at PLC CPU M13 è Device configuration ð The Device configuration opens 2 In the Catalog at Components open the Serial collection and drag and drop the serial module M09 0CB00 Serial2x to the left slot of the CPU By default the interface X1 i...

Page 459: ...Devices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates your System SLIO CPU 013 CCF0R00 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via Modbus R...

Page 460: ...and networking at Local components After transferring your project your CPU can be accessed via Ethernet PG OP channel with the set IP address data 1 Click in the Project tree at PLC Device configuration 2 Click in the Device configuration at 0 CPU 013 and select Context menu è Components properties ð The properties dialog is opened 3 Click at Advanced configurations and select at Function X3 the ...

Page 461: ... Devices and networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates the corresponding System SLIO CPU and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via Modbus...

Page 462: ... CPU can be accessed via Ethernet PG OP channel with the set IP address data For the System SLIO CPUs 014 017 the RS485 interface is set to PtP communication as standard A hardware configuration to enable the PtP functionality is not necessary 13 5 4 2 User program 13 5 4 2 1 Program structure n FB 876 VMC_ConfigMaster_RTU Ä 504 This block is used to parametrize the serial interface of the CPU for...

Page 463: ... is serially connected via Modbus RTU a data block must be created UDT 879 VMC_AxisRTU_REF Ä 504 UDT 881 VMC_ConfigV1000RTU_REF Ä 504 n FB 882 VMC_AxisControlV1000_RTU Ä 509 With this block you can control an inverter drive which is serially connected via Modbus RTU and check its status UDT 881 VMC_ConfigV1000RTU_REF Ä 504 UDT 879 VMC_AxisRTU_REF Ä 504 UDT 878 VMC_ComObjectRTU_REF Ä 504 n DB 99 Co...

Page 464: ... n FB 882 VMC_AxisControlV1000_RTU Here the following blocks are automatically added to the project n SEND FB 60 n RECEIVE FB 61 n RTU MB_MASTER FB 72 n SER_CFG FC 216 n SER_SND FC 217 n SER_RCV FC 218 n VMC_ComSlavesRTU_REF UDT 877 n VMC_ComObjectRTU_REF UDT 878 n VMC_AxisRTU_REF UDT 879 n VMC_ConfigV1000RTU_REF UDT 881 13 5 4 2 3 Create OB 100 for serial communication 1 Click at Project tree è C...

Page 465: ...D Additional error information OUT WORD You create the symbolic variables via Context menu è Create edit symbol Here you can assign the corresponding operands via a dialog 13 5 4 2 4 Create data block for Modbus slave For each inverter drive which is serially connected via Modbus RTU a data block must be created 1 For this click at Project tree è CPU è PLC program è Program blocks è Add new block ...

Page 466: ...is created and a dialog opens to specify the instance data block VMC_ComManager_RTU_877 3 Confirm the query of the instance data block with OK 4 Specify the following parameters Call FB877 DB877 Ä Chap 13 5 7 6 FB 877 VMC_ComManager_RTU Modbus RTU communication manager page 505 NumberOfSlaves 1 Number of connected inverter drives 1 IN INT WaitCycles ComWaitCycles Minimum number of waiting cycles I...

Page 467: ... operands The following input parameters must be pre assigned n Hardware Here specify the hardware you use to control your inverter drives 1 System SLIO CP040 whose logical address is to be specified via Laddr 2 SPEED7 CPU n Laddr Logical address for the System SLIO CP040 Hardware 1 Otherwise this parameter is ignored n UnitId Modbus address of the V1000 n UserUnitsVelocity User unit for speeds 0 ...

Page 468: ...ecelerationTime A1_JogDecelerationTime Parameter Deceleration time for jogging IN REAL AxisReady A1_AxisReady Status Axis ready OUT BOOL AxisEnabled A1_AxisEnabled Status Activation of the axis OUT BOOL AxisError A1_AxisError Status Axis error OUT BOOL AxisErrorID A1_AxisErrorID Status Additional error information for AxisError OUT WORD DriveError A1_DriveError Status Error on the inverter drive O...

Page 469: ...e 506 Execute A1_RdParExecute The job is started with edge 0 1 IN BOOL StartAddress A1_RdParStartAddress Start address of the 1 register IN INT Quantity A1_RdParQuantity Number of registers to read IN INT Done A1_RdParDone Status job finished IN REAL Busy A1_RdParBusy Status job in progress OUT BOOL Error A1_RdParError Error feedback OUT BOOL ErrorID A1_RdParErrorID Additional error information OU...

Page 470: ...e online help of the SPEED7 Studio ð You can now take your application into operation via the existing communication connection CAUTION Please always observe the safety instructions for your inverter drive especially during commissioning 2 A watch table allows you to manually control the inverter drive Double click at Project tree è CPU è PLC program è Watch tables è Add watch table 3 Enter a name...

Page 471: ... for configuration the Siemens SIMATIC Manager V 5 5 SP2 and up n With a System MICRO CPU plugging the expansion module activates the PtP func tionality The configuration happens in the Siemens SIMATIC Manager by means of a virtual PROFINET IO device The PROFINET IO device is to be installed in the hard ware catalog by means of a GSDML n With a System SLIO 013C CPU the configuration of PtP functio...

Page 472: ... profile rail from the hardware catalog 3 Place at Slot Number 2 the CPU 314C 2 PN DP 314 6EH04 0AB0 V3 3 4 Click at the sub module PN IO of the CPU 5 Select Context menu è Insert PROFINET IO System 6 Create with New a new sub net and assign valid address data 7 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 8 Enter at General a Device name T...

Page 473: ...P at Properties the IP address data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment A hardware configuration to enable the PtP functionality is not necessary 1 Turn off the power supply 2 Mount the extension module 3 Establish a cable connection to the communication partner 4 Switch on the power...

Page 474: ...dule PN IO of the CPU 5 Select Context menu è Insert PROFINET IO System 6 Use New to create a new subnet and assign valid IP address data for your PROFINET system 7 Click at the sub module PN IO of the CPU and open with Context menu è Properties the properties dialog 8 Enter at General a Device name The device name must be unique at the Ethernet subnet Add CPU in the project VIPA SPEED7 Motion con...

Page 475: ...ready placed at slot 0 From slot 1 you can place your System SLIO modules 1 Open the properties dialog by a double click at VIPA SLIO CPU ð The VIPA specific parameters may be accessed by means of the properties dialog 2 Select at Function X3 the value PTP Enable PtP functionality VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via Modbus RTU Usage in Siemens SIMATIC ...

Page 476: ...d be exe cuted 1 Start the Siemens hardware configurator with a new project 2 Insert a profile rail from the hardware catalog 3 Place at Slot number 2 the CPU 315 2 PN DP 315 2EH14 0AB0 V3 2 4 Click at the sub module PN IO of the CPU 5 Use New to create a new subnet and assign valid IP address data for your PROFINET system 6 Click at the sub module PN IO of the CPU and open with Context menu è Pro...

Page 477: ...s data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment For the System SLIO CPUs 014 017 the RS485 interface is set to PtP communication as standard A hardware configuration to enable the PtP functionality is not necessary 13 5 5 3 User program 13 5 5 3 1 Program structure n FB 876 VMC_ConfigMast...

Page 478: ...erially connected via Modbus RTU a data block must be created UDT 879 VMC_AxisRTU_REF Ä 504 UDT 881 VMC_ConfigV1000RTU_REF Ä 504 n FB 882 VMC_AxisControlV1000_RTU Ä 509 With this block you can control an inverter drive which is serially connected via Modbus RTU and check its status UDT 881 VMC_ConfigV1000RTU_REF Ä 504 UDT 879 VMC_AxisRTU_REF Ä 504 UDT 878 VMC_ComObjectRTU_REF Ä 504 n DB 99 ComData...

Page 479: ...EF n UDT 878 VMC_ComObjectRTU_REF n UDT 879 VMC_AxisRTU_REF n UDT 881 VMC_ConfigV1000RTU_REF n SFB 4 TON 13 5 5 3 3 Create OB 100 for serial communication 1 In your project click at Blocks and choose Context menu è Insert new object è Organization block ð The dialog Properties Organization block opens 2 Add the OB 100 to your project 3 Open the OB 100 4 Add a Call FB876 DB876 to the OB 100 ð The b...

Page 480: ...name Enter A1_V1000 Confirm your input with OK ð The block is created 3 Open DB 100 A1_V1000 by double clicking 4 In A1_V1000 create the following variables n AxisData of type UDT 879 VMC_AxisRTU_REF n V1000Data of type UDT 881 VMC_ConfigV1000RTU_REF 13 5 5 3 5 Create data block for all Modbus slaves For the communication data of the inverter drives which are serially connected via Modbus RTU a co...

Page 481: ...ation The FB 881 VMC_InitV1000_RTU initializes the corresponding inverter drive with the user data Before an inverter drive can be controlled it must be initialized 1 Add a Call FB881 DB881 to OB 1 ð The block call is created and a dialog opens to specify the instance data block VMC_InitV1000_RTU _881 2 Confirm the query of the instance data block with OK 3 Specify the following parameters Call FB...

Page 482: ...otor dependent parameter E2 04 E4 04 or E5 04 2 RPM Data in revolutions per minute n UserUnitsAcceleration User units for acceleration and deceleration 0 0 01s range of values 0 00s 600 00s 1 0 1s range of values 0 0 6000 0s n MaxVelocityApp Max speed for the application The specification must be made in user units and is used for synchronization in movement commands 13 5 5 3 8 OB 1 Create instanc...

Page 483: ...AL InVelocity A1_InVelocity Status target velocity OUT BOOL CmdDone A1_CmdDone Status Command finished OUT BOOL CmdBusy A1_CmdBusy Status Command in progress OUT BOOL CmdAborted A1_CmdAborted Status Command aborted OUT BOOL CmdError A1_CmdError Status Command error OUT BOOL CmdErrorID A1_CmdErrorID Status Additional error information for CmdError OUT WORD CmdActive A1_CmdActive Status Active comma...

Page 484: ...mber of registers to read IN INT Done A1_RdParDone Status job finished IN REAL Busy A1_RdParBusy Status job in progress OUT BOOL Error A1_RdParError Error feedback OUT BOOL ErrorID A1_RdParErrorID Additional error information OUT BOOL Data P DB98 DBX0 0 BYTES 8 Location of the parameter data OUT WORD Axis A1_V1000 AxisData Reference to the general axis data IN OUT UDT 879 Please note that only who...

Page 485: ...er your project to your CPU ð You can take your application into operation now CAUTION Please always observe the safety instructions for your inverter drive especially during commissioning 3 A watch table allows you to manually control the inverter drive To create a watch table choose PLC è Monitor Modify variables ð The watch table is created and opened for editing 4 First adjust the waiting time...

Page 486: ...ion n Please use the Siemens TIA Portal V 14 and up for the configuration n With a System MICRO CPU plugging the expansion module activates the PtP func tionality The configuration happens in the Siemens TIA Portal by means of a virtual PROFINET IO device The PROFINET IO device is to be installed in the hardware catalog by means of a GSDML n With a System SLIO 013C CPU the configuration of PtP fun...

Page 487: ...h the Siemens SIMATIC TIA Portal the following steps should be executed 1 Start the Siemens TIA Portal with a new project 2 Switch to the Project view 3 Click in the Project tree at Add new device 4 Select the following CPU in the input dialog SIMATIC S7 300 CPU 314C 2 PN DP 314 6EH04 0AB0 V3 3 ð The CPU is inserted with a profile rail Device overview Module Slot Type PLC 2 CPU 314C 2PN DP MPI int...

Page 488: ...ET part of the Siemens CPU and enter at valid IP address data in Properties at Ethernet address in the area IP protocol 4 Enter at PROFINET a PROFINET device name The device name must be unique at the Ethernet subnet 5 Select in the Network view the IO device VIPA MICRO PLC and switch to the Device overview ð In the Device overview of the PROFINET IO device VIPA MICRO PLC the CPU is already placed...

Page 489: ... by clicking on the CP 343 1EX30 and enter for the CP at Properties at Ethernet address the IP address data which you have assigned before You get valid IP address parameters from your system administrator 1 Ethernet PG OP channel Device overview Module Slot Type PLC 2 CPU 314C 2PN DP MPI DP interface 2 X1 MPI DP interface PROFINET inter face 2 X2 PROFINET interface CP 343 1 4 CP 343 1 Enable PtP ...

Page 490: ... the Project area to Network view 2 After installing the GSDML the IO device for the SLIO CPU may be found in the hardware catalog at Other field devices PROFINET IO VIPA GmbH VIPA SLIO System Connect the slave system to the CPU by dragging dropping it from the hardware catalog to the Network view and connecting it via PROFINET to the CPU 3 Click in the Network view at the PROFINET part of the Sie...

Page 491: ...l place at slot 4 the Siemens CP 343 1 6GK7 343 1EX30 0XE0 V3 0 2 Open the Property dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties at Ethernet address the IP address data which you have assigned before You get valid IP address parameters from your system administrator Enable PtP functionality Configuration of Ethernet PG OP channel VIPA SPEED7 Motion control Simple Motio...

Page 492: ...tem SLIO CPU 014 017 To be compatible with the Siemens SIMATIC TIA Portal the following steps should be executed 1 Start the Siemens TIA Portal with a new project 2 Switch to the Project view 3 Click in the Project tree at Add new device Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via Modbus RTU Usage in Siemens TIA Portal HB00 OPL_SP7 Opera...

Page 493: ... PROFINET IO VIPA GmbH VIPA SLIO System Connect the slave system to the CPU by dragging dropping it from the hardware catalog to the Network view and connecting it via PROFINET to the CPU 3 Click in the Network view at the PROFINET part of the Siemens CPU and enter at valid IP address data in Properties at Ethernet address in the area IP protocol 4 Enter at PROFINET a PROFINET device name The devi...

Page 494: ...thernet PG OP channel place at slot 4 the Siemens CP 343 1 6GK7 343 1EX30 0XE0 V3 0 2 Open the Property dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties at Ethernet address the IP address data which you have assigned before You get valid IP address parameters from your system administrator 1 Ethernet PG OP channel Enable PtP functionality Configuration of Ethernet PG OP ch...

Page 495: ...nnected inverter drive n FB 881 VMC_InitV1000_RTU Ä 507 The FB 881 VMC_InitV1000_RTU initializes the corresponding inverter drive with the user data Before an inverter drive can be controlled it must be initialized UDT 881 VMC_ConfigV1000RTU_REF Ä 504 UDT 879 VMC_AxisRTU_REF Ä 504 n FB 879 VMC_ReadParameter_RTU Ä 506 With this FB you have read access to the parameters of an inverter drive which is...

Page 496: ...evice ensures that only 1 inverter drive Modbus slave can use the serial interface If several inverter drives are used this block as communication man ager sends the jobs to the respective Modbus slaves and evaluates their responses UDT 877 VMC_ComSlavesRTU_REF Ä 504 13 5 6 3 2 Copy blocks into project 1 Go to the service area of www vipa com 2 Download the Simple Motion Control library from the d...

Page 497: ...00 is created and opened 3 Add a Call FB876 DB876 to the OB 100 ð The block call is created and a dialog opens to specify the instance data block VMC_ConfigMaster_RTU_876 4 Confirm the query of the instance data block with OK 5 Specify the following parameters Call FB876 DB876 Ä Chap 13 5 7 5 FB 876 VMC_ConfigMaster_RTU Modbus RTU CPU interface page 504 Baudrate B 16 09 Baud rate 09h 9600bit s IN ...

Page 498: ...ch as DB99 Specify DB 99 and create this as a global DB with OK ð The block is created and opened 3 In ComDataSlaves create the following variable n Slaves of Type UDT 877 VMC_ComSlavesRTU_REF 13 5 6 3 6 OB 1 Create instance of communication manager The FB 877 VMC_ComManager_RTU ensures that only 1 inverter drive Modbus slave can use the serial interface As a communication manager the block sends ...

Page 499: ...cceleration A1_InitUserUnitsAcc User units acceleration deceleration 0 0 01s 1 0 1s IN INT MaxVelocityApp A1_InitMaxVelocityApp Max velocity in user units IN REAL Done A1_InitDone Status job finished OUT BOOL Busy A1_InitBusy Status job in progress OUT BOOL Error A1_InitError Error feedback OUT BOOL ErrorID A1_InitErrorID Additional error information OUT WORD Axis A1_V1000 AxisData Reference to th...

Page 500: ... 882 VMC_AxisControlV1000_RTU Modbus RTU Axis control page 509 AxisEnable A1_AxisEnable Activation of the axis IN BOOL AxisReset A1_AxisReset Command Reset error of the V1000 IN BOOL StopExecute A1_StopExecute Command Stop Stop axis IN BOOL MvVelocityExecute A1_MvVelocityExecute Command MoveVelocity velocity control IN BOOL Velocity A1_Velocity Parameter Velocity setting for MoveVelocity IN REAL A...

Page 501: ...eate instance read parameter With the FB 879 VMC_ReadParameter_RTU you have read access to the parameters of an inverter drive which is serially connected via Modbus RTU For the parameter data a DB is to be created 1 Click at Project tree è CPU PLC program è Program blocks è Add new block ð The dialog Add block is opened 2 Select the block type DB block and assign it the name A1_TransferData The D...

Page 502: ...to OB 1 ð The block call is created and a dialog opens to specify the instance data block VMC_WriteParameter_RTU 2 Confirm the query of the instance data block with OK 3 Specify the following parameters Call FB880 DB880 Ä Chap 13 5 7 9 FB 880 VMC_WriteParameter_RTU Modbus RTU write parameters page 507 Execute A1_WrParExecute The job is started with edge 0 1 IN BOOL StartAddress A1_WrParStartAddres...

Page 503: ...ialization page 507 For this enter in the watch table at Name the designation A1_InitExecute as Boolean and enter at Modify value the value True Activate the modification of the variables and start the transmission of the modified values ð The inverter drive is initialized After execution the output Done returns TRUE In the event of a fault you can determine the error by evaluating the ErrorID Do ...

Page 504: ... 881 VMC_ConfigV1000RTU_REF Modbus RTU data structure configuration This is a user defined data structure containing information about the configuration data of an inverter drive which is connected via Modbus RTU 13 5 7 5 FB 876 VMC_ConfigMaster_RTU Modbus RTU CPU interface This block is used to parametrize the serial interface of the CPU for Modbus RTU com munication Please note that this block i...

Page 505: ...ined by multiplying the desired time in seconds by the baud rate Example Desired time 8ms at a baud rate of 19200bit s Calculation 19200bit s x 0 008s 154bit 9Ah The hex value should be 9Ah Valid OUT BOOL Configuration n TRUE The configuration is valid n FALSE The configuration is not valid Error OUT BOOL Error feedback n TRUE An error has occurred see ErrorID n FALSE There is no error ErrorID OUT...

Page 506: ... registers can be read as WORD To evaluate individual bits you must swap high and low byte Parameter Parameter Declaration Data type Description Execute IN BOOL The job is started with edge 0 1 StartAddress IN WORD Start address of the register from which to read Quantity IN BYTE Number of registers to read Done OUT BOOL Status n TRUE Job successfully done Busy OUT BOOL Status n TRUE Job is runnin...

Page 507: ... 637 Data IN OUT ANY Reference to the data to be written Axis IN OUT UDT 879 Reference to the general axis data of the inverter drive 13 5 7 10 FB 881 VMC_InitV1000_RTU Modbus RTU initialization This block is used to initialize the corresponding inverter drive with the user data and must be processed before commands can be transferred The block is specially adapted to the use of a inverter drive w...

Page 508: ...application The specification must be made in user units and is used for synchronization in move ment commands Done OUT BOOL Status n TRUE Job successfully done Busy OUT BOOL Status n TRUE Job is running Error OUT BOOL Status n TRUE An error has occurred Additional error information can be found in the parameter ErrorID ErrorID OUT WORD Additional error information Ä Chap 13 10 ErrorID Additional ...

Page 509: ...me from standstill to the maximum set velocity See example below the table DecelerationTime IN REAL Parameter Deceleration time in seconds accuracy depending on UserUnitsAcceleration at Init block Always related to time from standstill to the maximum set velocity See example below JogPositive IN BOOL Command JogPos n Edge 0 1 Start axis in positive direction jogging positive n Edge 1 0 Stop axis J...

Page 510: ...ity n TRUE The target velocity Velocity has been reached n FALSE The target velocity Velocity has not yet been reached CmdDone OUT BOOL Status Command finished n TRUE Command was executed successfully n FALSE Command has not yet been executed or is still in progress CmdBusy OUT BOOL Status Command in progress n TRUE Command is in progress n FALSE Currently no command is executed CmdAborted OUT BOO...

Page 511: ...la vmax max velocity in 1 s f max Output frequency parameter E1 04 p Number of motor poles motor dependent parameter E2 04 E4 04 or E5 04 1 Select Project è Compile all and transfer the project into your CPU You can find more information on the transfer of your project in the online help of the SPEED7 Studio ð You can take your application into operation now CAUTION Please always observe the safet...

Page 512: ...ter drive to your application with the Drive Wizard software tool More may be found in the manual of your inverter drive The following table shows all parameters which do not correspond to the default values The following parameters must be set via Drive Wizard to match the Simple Motion Con trol Library No Designation Range of values Setting for Simple Motion Control Library B1 01 Input source fr...

Page 513: ... EtherCAT option card in your inverter drive 3 Connect the option card and the inverter drive via the enclosed ground cable 4 Connect the EtherCAT jack X4 of the CPU to the IN jack of the option card via an EtherCAT cable ð Your system is now ready for commissioning Proceeding VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via EtherCAT Wiring HB00 OPL_SP7 Operation l...

Page 514: ...networking is shown 3 Click in the Project tree at Add new device ð A dialog for device selection opens 4 Select from the Device templates a CPU with EtherCAT master functionality such as the CPU 015 CEFNR00 and click at OK ð The CPU is inserted in Devices and networking and the Device configuration is opened Add CPU in the project VIPA SPEED7 Motion control Simple Motion Control Library Usage inv...

Page 515: ...mple 3 Confirm your input with OK ð The motion control functions are now available in your project CAUTION Please note due to the system with every change to the feature set settings the EtherCAT field bus system and its motion con trol configuration will be deleted from your project Activate motion control functions VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via...

Page 516: ...SI files and you can skip this part If your ESI file is not up to date you will find the latest ESI file for the inverter drive under www yaskawa eu com at Service è Drives Motion Software 1 Download the according ESI file for your inverter drive Unzip this if necessary 2 Navigate to your SPEED7 Studio 3 Open the corresponding dialog window by clicking on Extra è Install device description EtherCA...

Page 517: ...s not exist you must install the corresponding ESI file as described above ð The inverter drive is connected to your EC Mastersystem VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via EtherCAT Usage in VIPA SPEED7 Studio HB00 OPL_SP7 Operation list en 18 30 517 ...

Page 518: ...verter drive More information about the usage of the SPEED7 EtherCAT Manager may be found in the online help of the SPEED7 Studio 2 Click on the slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs Configure inverter drive VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via EtherCAT Usage in VIP...

Page 519: ...ecessary Please also take into account the order of the Entries and add them accordingly The following functions are available for editing the Entries n New Here you can create a new entry in a dialog by selecting the corre sponding entry from the CoE object dictionary and making your set tings The entry is accepted with OK and is listed in the list of entries n Delete This allows you to delete a ...

Page 520: ...Close the dialog Edit PDO with OK 5 Select the mapping Outputs and click at Edit Perform the following settings Outputs n General Name Outputs Index 0x1600 n Flags Everything de activated n Direction RxPdo Output activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time Everything de activated n Entries Name Index Bit length Control word 0x6040...

Page 521: ...lect the Process image tab via the arrow key in the Device editor and note for the parameter of the block FB 887 VMC_InitInverter_EC the following PDO n S7 Input address à InputsStartAddressPDO n S7 Output address à OutputsStartAddressPDO 9 By closing the dialog of the SPEED7 EtherCAT Manager with X the configuration is taken to the SPEED7 Studio VIPA SPEED7 Motion control Simple Motion Control Li...

Page 522: ...FB 886 VMC_KernelInverter_EC The Kernel block communicates with the drive via the appropriate bus system processes the user requests and returns status messages Specific block for inverter drive with EtherCAT The exchange of the data takes place by means of the axis DB n FB 860 VMC_AxisControl General block for all drives and bus systems Supports simple motion commands and returns all relevant sta...

Page 523: ...rEC_REF FB 886 VMC_KernelInverter_EC FB 887 VMC_InitInverter_EC n Axis Control UDT 860 MC_AXIS_REF Blocks for your movement sequences 1 Add a new DB as your axis DB to your project Click in the Project tree within the CPU at PLC program Program blocks at Add New block select the block type DB block and assign the name Axis01 to it The DB number can freely be selected such as DB 10 ð The block is c...

Page 524: ...s OutputsStartAddressPDO 300 EtherCAT Man S7 Output address MaxVelocityDrive 1 000000e 002 MaxOutputFrequency 6 000000e 001 NumberOfPoles 6 Valid InitInvEC1_Valid Error InitInvEC1_Error ErrorID InitInvEC1_ErrorID MaxVelocity InitInvEC1_MaxVelocityRPM Config Axis01 Config Axis Axis01 Axis The Kernel processes the user commands and passes them appropriately processed on to the drive via the respecti...

Page 525: ...y AxisEnabled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy Ax...

Page 526: ...fault you can determine the error by evaluating the ErrorID You have to call the Init block again if you load a new axis DB or you have changed parameters on the Init block Do not continue until the Init block does not report any errors 3 Ensure that the Kernel block FB 886 VMC_KernelInverter_EC is cyclically called In this way control signals are transmitted to the drive and status messages are r...

Page 527: ...ML file ð After the installation the according PROFINET IO device can be found at PROFINET IO è Additional field devices è I O è VIPA SLIO System The installation of the PROFINET IO devices EtherCAT Network happens in the hard ware catalog with the following approach 1 Go to the service area of www vipa com 2 Load from the download area at Config files è EtherCAT the GSDML file for your EtherCAT m...

Page 528: ... number 2 the CPU 315 2 PN DP 315 2EH14 V3 2 4 The integrated PROFIBUS DP master jack X3 is to be configured and connected via the sub module X1 MPI DP 5 The integrated EtherCAT master is to be configured via the sub module X2 PN IO as a virtual PROFINET network 6 Click at the sub module PN IO of the CPU 7 Select Context menu è Insert PROFINET IO System 8 Create with New a new sub net and assign v...

Page 529: ...en the properties dialog by clicking on the CP 343 1EX30 and enter for the CP at Properties the IP address data You get valid IP address parameters from your system administrator 3 Assign the CP to a Subnet The IP address data are not accepted without assign ment 1 Navigate in the hardware catalog to the directory PROFINET IO è Additional field devices è I O è VIPA EtherCAT System and connect the ...

Page 530: ...o a slot Create the following areas n In 128byte n Out 128byte 3 Select Station è Save and compile The drive is configured in the SPEED7 EtherCAT Manager Configure inverter drive VIPA SPEED7 Motion control Simple Motion Control Library Usage inverter drive via EtherCAT Usage in Siemens SIMATIC Manager HB00 OPL_SP7 Operation list en 18 30 530 ...

Page 531: ...7 EtherCAT Manager the cor responding ESI file must be installed The ESI file for the inverter drive can be found under www yaskawa eu com at Service è Drives Motion Software Download the according ESI file for your drive Unzip this if necessary 4 Open in the SPEED7 EtherCAT Manager via File è ESI Manager the dialog window ESI Manager 5 In the ESI Manager click at Add File and select your ESI file...

Page 532: ...9 You can only edit PDOs in Expert mode Otherwise the buttons are hidden By activating the Expert mode you can switch to advanced setting By activating View è Expert you can switch to the Expert mode 10 Click on the inverter drive EtherCAT Slave in the SPEED7 EtherCAT Manager and select the PDO assign tab in the Device editor ð This dialog shows a list of the PDOs VIPA SPEED7 Motion control Simple...

Page 533: ...ecessary Please also take into account the order of the Entries and add them accordingly The following functions are available for editing the Entries n New Here you can create a new entry in a dialog by selecting the corre sponding entry from the CoE object dictionary and making your set tings The entry is accepted with OK and is listed in the list of entries n Delete This allows you to delete a ...

Page 534: ...ialog Edit PDO with OK 13 Select the mapping 1st Receive PDO mapping and click at Edit Perform the fol lowing settings Outputs n General Name Outputs Index 0x1600 n Flags Everything de activated n Direction RxPdo Output activated n Exclude Please note these settings otherwise the PDO mappings can not be activated at the same time Everything de activated n Entries Name Index Bit length Control word...

Page 535: ...for the parameter of the block FB 887 VMC_InitInverter_EC the following PDO n S7 Input address à InputsStartAddressPDO n S7 Output address à OutputsStartAddressPDO 17 By closing the SPEED7 EtherCAT Manager with X the configuration is taken to the project You can always edit your EtherCAT configuration in the SPEED7 EtherCAT Manager since the configuration is stored in your project 18 Save and comp...

Page 536: ...ns status messages Specific block for inverter drive with EtherCAT The exchange of the data takes place by means of the axis DB n FB 860 VMC_AxisControl General block for all drives and bus systems Supports simple motion commands and returns all relevant status messages The exchange of the data takes place by means of the axis DB For motion control and status query via the instance data of the blo...

Page 537: ...oject 1 In your project click at Blocks and choose Context menu è Insert new object è Data block Specify the following parameters n Name and type The DB no as Name can freely be chosen such as DB 10 Set Shared DB as the Type n Symbolic name Specify Axis01 Confirm your input with OK ð The block is created 2 Open DB 10 Axis01 by double click n In Axis01 create the variable Config of type UDT 886 The...

Page 538: ... 000000e 001 NumberOfPoles 6 Valid InitInvEC1_Valid Error InitInvEC1_Error ErrorID InitInvEC1_ErrorID MaxVelocity InitInvEC1_MaxVelocityRPM Config Axis01 Config Axis Axis01 Axis The Kernel processes the user commands and passes them appropriately processed on to the drive via the respective bus system FB 886 VMC_KernelInverter_EC DB 886 Ä Chap 13 6 6 2 FB 886 VMC_Ker nelInverter_EC inverter drive ...

Page 539: ...bled AxCtrl1_AxisEnabled AxisError AxCtrl1_AxisError AxisErrorID AxCtrl1_AxisErrorID DriveWarning AxCtrl1_DriveWarning DriveError AxCtrl1_DriveError DriveErrorID AxCtrl1_DriveErrorID IsHomed AxCtrl1_IsHomed ModeOfOperation AxCtrl1_ModeOfOperation PLCopenState AxCtrl1_PLCopenState ActualPosition AxCtrl1_ActualPosition ActualVelocity AxCtrl1_ActualVelocity CmdDone AxCtrl1_CmdDone CmdBusy AxCtrl1_Cmd...

Page 540: ...he Init block FB 887 VMC_InitInverter_EC with Enable TRUE ð The output Valid returns TRUE In the event of a fault you can determine the error by evaluating the ErrorID You have to call the Init block again if you load a new axis DB or you have changed parameters on the Init block Do not continue until the Init block does not report any errors 3 Ensure that the Kernel block FB 886 VMC_KernelInverte...

Page 541: ...ta type Description Init INPUT BOOL The block is internally reset with an edge 0 1 Existing motion commands are aborted and the block is initialized Config IN_OUT UDT 886 Data structure for transferring axis dependent configuration data to the AxisKernel Axis IN_OUT UDT 860 Data structure for transferring axis dependent information to the AxisKernel and PLCopen blocks 13 6 6 3 FB 887 VMC_InitInver...

Page 542: ...on Ä Chap 13 10 ErrorID Additional error information page 637 MaxVelocity OUTPUT INT Maximum velocity in rpm This value is determined automatically 13 7 Blocks for axis control 13 7 1 Overview At Axis Control the blocks for programming motion tasks and status queries can be found The following components can only be used to control the following drive systems Sigma 5 EtherCAT Sigma 7S EtherCAT Sig...

Page 543: ...tion job yes yes Ä 579 FB 823 MC_TouchProbe touch probe yes no Ä 581 FB 824 MC_AbortTrigger abort touch probe yes no Ä 583 FB 825 MC_ReadBoolParameter read boolean parameter from axis yes yes Ä 584 FB 826 MC_WriteBoolParameter write boolean parameter to axis yes yes Ä 586 FB 827 VMC_ReadDWordParameter read double word parameter from axis yes yes Ä 588 FB 828 VMC_WriteDWordParameter write double wo...

Page 544: ...LSE The axis is disabled AxisReset INPUT BOOL n Reset axis Edge 0 1 Axis reset is performed HomeExecute INPUT BOOL n Homing Edge 0 1 Homing is started HomePosition INPUT REAL With a successful homing the current position of the axis is uniquely set to Position Position is to be entered in the used application unit StopExecute INPUT BOOL n Stop axis Edge 0 1 Stopping of the axis is started MvVeloci...

Page 545: ... to switch on Check and fix AxisError see AxisErrorID Check and fix DriveError see DriveErrorID Check initialization FB input and output addresses or PDO mapping correct AxisEnabled OUTPUT BOOL n Status axis TRUE Axis is switched on and accepts motion com mands FALSE Axis is not switched on and does not accepts motion commands AxisError OUTPUT BOOL n Motion axis error TRUE An error has occurred Ad...

Page 546: ...0 Cyclic Sync Torque mode Other Reserved keep last mode PLCopenState OUTPUT INT Current PLCopenState 1 Disabled 2 Standstill 3 Homing 4 Discrete Motion 5 Continous Motion 7 Stopping 8 Errorstop ActualPosition OUTPUT REAL Position of the axis in user unit ActualVelocity OUTPUT REAL Velocity of the axis in user unit s CmdDone OUTPUT BOOL n Status TRUE Job ended without error CmdBusy OUTPUT BOOL n St...

Page 547: ...tion exceeded SWLimitMaxActive OUTPUT BOOL n Software limit switch TRUE Software limit switch Maximum active Max imum position in positive direction exceeded HWLimitMinActive OUTPUT BOOL n Hardware limit switch TRUE Negative hardware limit switch active on the drive NOT Negative Overtravel HWLimitMaxActive OUTPUT BOOL n Hardware limit switch TRUE Positive hardware limit switch active on the drive ...

Page 548: ...ntains status information of the axis 13 7 3 2 UDT 861 MC_TRIGGER_REF Data structure trigger signal This is a user defined data structure that contains information of the trigger signal VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 548 ...

Page 549: ...obs FALSE The axis is not ready to execute motion con trol jobs Valid OUTPUT BOOL Always FALSE Error OUTPUT BOOL n Error TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID The axis is disabled ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Call MC_Power with Enable TRUE If Status shows a value ...

Page 550: ... motion job is cancelled and the axis is stopped 3 The error is eliminated and acknowledged at time 3 Thus Enable is further set the axis is enabled again Finally the axis is disabled with Enable FALSE Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 550 ...

Page 551: ...L n Status TRUE Job successfully done Busy OUTPUT BOOL n Status TRUE Job is running CommandA borted OUTPUT BOOL n Status TRUE The job was aborted during processing by another job Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information ...

Page 552: ...us each output parameter FALSE respectively 0 4 At the time 4 with an edge 0 1 at Execute the homing is started again and Busy becomes TRUE 5 At the time 5 an error occurs during homing Busy has the value FALSE and ERROR den value TRUE Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL...

Page 553: ...r ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Start of the job in the PLCopen States Standstill Homing Discrete Motion and Con tinuous Motion possible n MC_Stop switches the axis to the PLCopen State Stopping In Stopping no motion jobs can be started As long as Execute is true the axis remains in PLCopen State Stopping If Ex...

Page 554: ... is completed the axis is stopped Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 554 ...

Page 555: ...OUTPUT BOOL n Status TRUE The job was aborted during processing by another job Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Start of the job in the PLCopen States Discrete Motion and Continuous Motion pos sible n ...

Page 556: ... is completed the axis is stopped Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 556 ...

Page 557: ...Deceleration INPUT REAL Delay in breaking in user units s2 Jerk INPUT REAL Parameter is currently not supported call with 0 0 BufferMode INPUT BYTE Parameter is currently not supported call with B 16 0 Done OUTPUT BOOL n Status TRUE Job successfully done target position reached Busy OUTPUT BOOL n Status TRUE Job is running Active OUTPUT BOOL n Status TRUE Block controls the axis CommandA borted OU...

Page 558: ...xis is moved relative by a Distance 1000 0 start posi tion at job start is 0 0 Moving the axis is started with edge 0 1 at Execute and Busy becomes TRUE 2 At time 2 the axis was moved by the Distance 1000 0 i e the target position was reached Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respecti...

Page 559: ...king in user units s2 Jerk INPUT REAL Parameter is currently not supported call with 0 0 BufferMode INPUT BYTE Parameter is currently not supported call with B 16 0 InVelocity OUTPUT BOOL n Velocity setting TRUE Velocity setting reached Busy OUTPUT BOOL n Status TRUE Job is running Active OUTPUT BOOL n Status TRUE Block controls the axis CommandA borted OUTPUT BOOL n Status TRUE The job was aborte...

Page 560: ...is with set velocity is started with edge 0 1 at Execute and Busy becomes TRUE 2 At time 2 the axis reaches the set velocity and Busy has the value FALSE and InVe locity the value TRUE 3 Resetting Execute to FALSE at time 3 does not influence the axis The axis is fur ther moved with constant set velocity and InVelocity is further TRUE 4 At the time 4 the MC_Velocity job is aborted by a MC_Halt job...

Page 561: ...ation in user units s2 Deceleration INPUT REAL Delay in breaking in user units s2 Jerk INPUT REAL Parameter is currently not supported call with 0 0 Direction INPUT Byte n Direction 0 Shortest way 1 Positive direction 2 Negative direction 3 Current direction BufferMode INPUT BYTE Parameter is currently not supported call with B 16 0 Done OUTPUT BOOL n Status TRUE Job successfully done Target posit...

Page 562: ...tion even when Execute is set to FALSE A running job can be aborted by a move job e g MC_MoveVelocity 1 With MC_MoveAbsolute the axis is moved to the absolute position 10000 0 start position at job start is 2000 0 At time 1 moving the axis is started with edge 0 1 at Execute and Busy becomes TRUE 2 At time 2 the axis has reached the target position Busy has the value FALSE and Done den value TRUE ...

Page 563: ...found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in PLCopen State ErrorStop possible n MC_Reset switches the axis depending on MC_Power either to PLCopen State Standstill call MC_Power with Enable TRUE or Disabled call MC_Power with Enable FALSE The reset of the axis is started with an edge 0 1 at...

Page 564: ...s the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 564 ...

Page 565: ...ge 637 ErrorStop OUTPUT BOOL n Axis errors TRUE An axis error has occurred move job can not be activated Disabled OUTPUT BOOL n Status axis Disabled TRUE Axis is disabled move job can not be acti vated Stopping OUTPUT BOOL n Status axis Stop TRUE Axis is stopped MC_Stop is active Homing OUTPUT BOOL n Status axis Homing TRUE Axis is just homing MC_Homing is active Standstill OUTPUT BOOL n Status mo...

Page 566: ...puts correspond to the status of the PLCopen State 2 At time 2 Enable is set to FALSE So all the outputs are set to FALSE respectively 0 Determine the status of the axis Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 566 ...

Page 567: ...n be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 AxisErrorID OUTPUT WORD Axis error ID the read value is vendor specifically encoded n Job start in each PLCopen State possible The reading of the error of the axis is started with an edge 0 1 at Execute Busy is TRUE as soon as reading of the axis error is ...

Page 568: ...eted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 568 ...

Page 569: ...UT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT REAL Value of the read parameter n Job start in each PLCopen State possible The reading of the axis parameter data is st...

Page 570: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 570 ...

Page 571: ...OUTPUT BOOL n Status TRUE Job successfully done Parameter data was written Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen State possible The wr...

Page 572: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 572 ...

Page 573: ...tively 0 Valid OUTPUT BOOL n Position valid TRUE The read position is valid Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Position OUTPUT REAL Position of the axis user unit n Job start in each PLCopen State possible...

Page 574: ...ent axis position 2 At time 2 Enable is set to FALSE So all the outputs are set to FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 574 ...

Page 575: ...0 Valid OUTPUT BOOL n Velocity valid TRUE The read velocity is valid Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Velocity OUTPUT REAL Velocity of the axis user unit s n Job start in each PLCopen State possible The ...

Page 576: ...ent axis velocity 2 At time 2 Enable is set to FALSE So all the outputs are set to FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 576 ...

Page 577: ... switch n TRUE Homing switch is activated LimitSwitchPos OUTPUT BOOL Limit switch positive direction n TRUE Limit switch positive direction is activated LimitSwitchNeg OUTPUT BOOL Limit switch negative direction NOT bit of the drive n TRUE Limit switch negative direction is activated Simulation OUTPUT BOOL Parameter is currently not supported always FALSE Communication Ready OUTPUT BOOL n Informat...

Page 578: ...show the additional information of the axis 2 At time 2 Enable is set to FALSE So all the outputs are set to FALSE respectively 0 Determine the status of the axis Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 578 ...

Page 579: ...formation Ä Chap 13 10 ErrorID Additional error information page 637 ConstantVelocity OUTPUT BOOL n Status motion job Velocity TRUE Velocity is constant Accelerating OUTPUT BOOL Please note that this parameter is not supported when using inverter drives via EtherCAT n Status motion job Acceleration TRUE The axis is accelerated the velocity of the axis is increasing Decelerating OUTPUT BOOL Please ...

Page 580: ...correspond to the status of motion job 2 At time 2 Enable is set to FALSE So all the outputs are set to FALSE respectively 0 Read status of the motion job Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 580 ...

Page 581: ...nput 00 Encoder zero pulse n Triggermode 00 SingleTrigger fix n Reserved 0 fix Execute IN BOOL The recording of the axis position is activated with edge 0 1 at Execute Done OUT BOOL n Status TRUE Job successfully done The axis position was recorded Busy OUT BOOL n Status TRUE Job is running CommandA borted OUT BOOL n Status TRUE The job was aborted during processing by another job Error OUT BOOL n...

Page 582: ...ted with a new MC_TouchProbe job for the same axis A running job can be aborted by MC_AbortTrigger A running job can be aborted by MC_Home The recording of the axis position is activated with edge 0 1 at Execute Busy is TRUE as soon as the job is running After processing the job Busy with FALSE and Done with TRUE is returned The recorded value can be found in RecordedPosition Recording the axis po...

Page 583: ... aborted with edge 0 1 at Execute Done OUT BOOL n Status TRUE Job successfully done The recording of the axis position was aborted Busy OUT BOOL n Status TRUE Job is running Error OUT BOOL n Status TRUE An error has occurred Additional error information can be found in the parameter ErrorID ErrorID OUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Thu...

Page 584: ...as read Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT BOOL Value of the read parameter n Job start in each PLCopen State possible The reading of the axis par...

Page 585: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 585 ...

Page 586: ...n parameter Done OUTPUT BOOL n Status TRUE Job successfully done Parameter data was written Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen Stat...

Page 587: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 587 ...

Page 588: ...ta was read Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT DWORD Value of the read parameter n Job start in each PLCopen State possible The reading of the axi...

Page 589: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 589 ...

Page 590: ...ritten parameter Done OUTPUT BOOL n Status TRUE Job successfully done Parameter data was written Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen...

Page 591: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 591 ...

Page 592: ...as read Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT WORD Value of the read parameter n Job start in each PLCopen State possible The reading of the axis par...

Page 593: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 593 ...

Page 594: ... parameter Done OUTPUT BOOL n Status TRUE Job successfully done Parameter data was written Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen State...

Page 595: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 595 ...

Page 596: ...as read Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT BYTE Value of the read parameter n Job start in each PLCopen State possible The reading of the axis par...

Page 597: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 597 ...

Page 598: ... parameter Done OUTPUT BOOL n Status TRUE Job successfully done Parameter data was written Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen State...

Page 599: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 599 ...

Page 600: ...y OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 Value OUTPUT DWORD Value of the read parameter n Job start in each PLCopen State possible The reading of the parameter data is ...

Page 601: ...completed Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 601 ...

Page 602: ...OUTPUT BOOL n Status TRUE Job successfully done Parameter data was read Busy OUTPUT BOOL n Status TRUE Job is running Error OUTPUT BOOL n Status TRUE An error has occurred Additional error infor mation can be found in the parameter ErrorID ErrorID OUTPUT WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 n Job start in each PLCopen State possible The writi...

Page 603: ...ompleted Busy has the value FALSE and Done den value TRUE 3 At the time 3 the job is completed and Execute becomes FALSE and thus each output parameter FALSE respectively 0 Status diagram of the block parameters VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 603 ...

Page 604: ...switch Velocity SearchSwitch IN REAL Velocity for search for the switch in user units s VelocitySearch Zero IN REAL Velocity for search for zero in user units s Acceleration IN REAL Acceleration in user units s2 Done OUT BOOL n Status TRUE Initialisation successfully done Busy OUT BOOL n Status TRUE Initialisation is active Error OUT BOOL n Status TRUE An error has occurred Additional error inform...

Page 605: ...lUnits 0 n VelocitySearchSwitch InternalUnits VelocityMax n Input VelocitySearchZero UserUnits 0 0 n VelocitySearchZero InternalUnits 0 n VelocitySearchZero InternalUnits VelocityMax n Input Acceleration UserUnits 0 0 n Acceleration InternalUnits 0 n Acceleration InternalUnits AccelerationMax 4 Transfer of the drive parameters n Homing Method in dependence of input Direction See table below n Homi...

Page 606: ...ex Pulse IN BOOL n Search for index pulse TRUE After detecting the home search for index pulse without change of direction FALSE After detecting the home search for index pulse with change of direction Velocity SearchSwitch IN REAL Velocity for search for the switch in user units s VelocitySearch Zero IN REAL Velocity for search for zero in user units s Acceleration IN REAL Acceleration in user un...

Page 607: ...s 0 n Acceleration InternalUnits AccelerationMax 4 Transfer of the drive parameters n Homing Method in dependence of input Direction See Table below n Homing Speed during search for switch Inc s n Homing Speed during search for zero Inc s n Homing Acceleration Inc s2 Homing Method InitialDirection WithIndexPulse OnRisingEdge SameDirIndexPulse 7 positive true true false 8 positive true true true 9 ...

Page 608: ...D Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 AXIS IN_OUT MC_AXIS_REF Reference to the axis The values of the input parameters are accepted with an Edge 0 1 at Execute and the initialisation of the homing method is started As long as the initialisation is active the output Busy is set to TRUE If the initialisation has been completed successfully the outp...

Page 609: ... Speed during search for switch Inc s n Homing Speed during search for zero Inc s n Homing Acceleration Inc s2 Homing Method Direction 33 false 34 true VIPA SPEED7 Motion control Simple Motion Control Library Blocks for axis control Complex motion tasks PLCopen blocks HB00 OPL_SP7 Operation list en 18 30 609 ...

Page 610: ...WORD Additional error information Ä Chap 13 10 ErrorID Additional error information page 637 AXIS IN_OUT MC_AXIS_REF Reference to the axis The values of the input parameters are accepted with an edge 0 1 at Execute and the initialisation of the homing method is started As long as the initialisation is active the output Busy is set to TRUE If the initialisation has been completed successfully the o...

Page 611: ...R W Enable monitoring of position lag Function is not supported 7 MaxPositionLag REAL R W Maximal position lag Function is not supported 8 MaxVelocitySystem REAL R Maximal allowed velocity of the axis in the motion system This parameter is currently not supported 9 MaxVelocityAppl REAL R W Maximal allowed velocity of the axis in the application Access on Axis AxisConfiguration DynamicLimits MaxVel...

Page 612: ... 1 2 1000 ErrorCode WORD 603F 0 R 3 1001 HomeOffset DWORD 607C 0 R W 5 6 1002 HomingMethod WORD 6098 0 R W 3 4 1003 SpeedSearchSwitch DWORD 6099 1 R W 5 6 1004 SpeedSearchZero DWORD 6099 2 R W 5 6 1005 HomingAcceleration DWORD 609A 0 R W 5 6 1006 PositiveTorqueLimit WORD 60E0 0 R W 3 4 1007 NegativeTorqueLimit WORD 0x60E1 0 R W 3 4 1008 MotorRatedTorque DWORD 0x6076 0 R W 5 6 1 Access via Ä Chap 1...

Page 613: ...ta page 594 5 Access via Ä Chap 13 7 3 23 FB 827 VMC_ReadDWordParameter read axis double word parameter data page 588 6 Access via Ä Chap 13 7 3 24 FB 828 VMC_WriteDWordParameter write axis double word parameter data page 590 13 8 Controlling the drive via HMI 13 8 1 Overview Drive control via an HMI is possible with the following library groups n Sigma 5 EtherCAT Ä 288 n Sigma 7S EtherCAT Ä 324 n...

Page 614: ...to be stored and start the unzip process with OK 4 Open the library after unzipping and drag and drop the Symbol library vipa simple motion control VX X X msxz and the Language table vipa simple motion control VX X X CSV to the Movicon unser directory Public Documents Progea Movicon Symbols ð After restarting Movicon the symbol library is available in Movicon via the Symbol libraries In order for ...

Page 615: ...ext ð The dialog Users opens 4 Make the appropriate user settings if desired or enable only CRF 21 Part and click at Next ð The dialog Add Comm I O Driver opens VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Create a new project HB00 OPL_SP7 Operation list en 18 30 615 ...

Page 616: ...settings ODBC opens 7 If you want a database connection you can make the corresponding settings here Otherwise click at Next ð The dialog Data logger and recipe settings ODBC opens 8 If templates are to be generated you can make the corresponding settings here Otherwise click at Next ð The dialog Alarm settings opens VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive vi...

Page 617: ...s you have made and the settings dialog for the S7TCP communication driver opens automatically 10 Select the register Stations 11 To add a new station click Add ð The dialog Station Properties opens VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Create a new project HB00 OPL_SP7 Operation list en 18 30 617 ...

Page 618: ...query for importing variables from the PLC database and close the S7TCP dialog with OK ð The project and the workspace are now enabled for use In the project at Resourcen SimpleMotion the standard elements were added by the fol lowing elements n Real Time DB Comm Drivers S7 TCP n Screens Screen1 Screen2 Footer Buttons VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive v...

Page 619: ...racters A Z a z 0 9 space and the separators _ and ð With OK all variables as well as their structures are generated and the addresses are set to the specified destination address 4 Place the template and adjust its size Variables are created for each template under the corresponding name When deleting the template the corresponding variables must be deleted again You can select these at Resources...

Page 620: ...otion control VX X X CSV 4 As a project directory you specify the project file simplemotion movprj which is located in the user directory such as vipa Documents Movicon Projects Simple Motion 5 Click at Continue ð Language selection opens 6 Select Select all languages and click at Finish ð The language table is imported into your project 7 After successful import close the String Import Export too...

Page 621: ... pad instead of the default input field using the following procedure 1 Click at Resources SimpleMotion Screens and select Context menu è Add a new screen 2 Assign a name such as NumPad and confirm with OK Adjust the numeric input field VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18 30 621 ...

Page 622: ... vipa simple motion control and drag drop from the Library view the Numeric Touchpad template to the NumPad which matches the resolution of your panel 5 If necessary adjust its size 6 Click at Resources SimpleMotion and select Context menu è Properties VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en...

Page 623: ...en SimpleMotion Screens NumPad Drawing Objects Touchpad_Num at Schieberegler slide control and select Context menu è Properties Expand the Style part and disable Show Bar VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18 30 623 ...

Page 624: ...alue jog mode JogAccelerationMinValue Minimum acceleration value jog mode JogDecelerationMaxValue Maximum delay value jog mode JogDecelerationMinValue Minimum delay value jog mode PositionMaxValue Maximum position value PositionMinValue Minimum position value VelocityMaxValue Maximum speed value VelocityMinValue Minimum speed value To adjust limit and default values click at Resources SimpleMotion...

Page 625: ...r speed click at Resources SimpleMotion Real Time DB Variables VMC_AxisControl _Out Members Velocity and select Context menu è Properties ð You can adjust the corresponding values at Engineering Data Confirm with your settings Adjust technical units VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18...

Page 626: ...eal Time DB at Comm Drivers and select Context menu è Add new Comm Driver ð The dialog window New comm I O Driver is opened Manually add communica tion driver VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18 30 626 ...

Page 627: ... driver S7 TCP is listed at Resources SimpleMotion Real Time DB Comm Drivers 3 Click at S7 TCP and select Context menu è Comm I O Driver Settings ð The S7 TCP dialog opens 4 Select the register Stations VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18 30 627 ...

Page 628: ...nd the separators _ and Enter at Server Address the IP address of your CPU and click at OK 7 Negate the query for importing variables from the PLC database and close the S7 TCP dialog with OK VIPA SPEED7 Motion control Simple Motion Control Library Controlling the drive via HMI Modify the project in Movicon HB00 OPL_SP7 Operation list en 18 30 628 ...

Page 629: ...Movicon For this in Movicon click in Resources at SimpleMotion and select Context menu è Upload project to Device FTP ð The Transfer dialog opens 6 Select at PlugIn Type TCP Specify at Server the IP address of the panel Enter at User name and Password the access for your panel The following access data are used per default n Username wince n Password vipatp Specify at Upload Device Path you memory...

Page 630: ...able for the control You can now control your drive via the corresponding buttons 13 8 4 2 2 Operation Reset to Defaults n By Reset to Defaults the following values are reset to default values of the applica tion which you can adapt accordingly as described above Velocity 50U s Acceleration Deceleration 100U s2 Position Home Position 0U Help n You can access your own help file via Help This is to ...

Page 631: ...p Move n Via the corresponding input field or and you can specify Position Distance Velocity Acceleration and Deceleration and execute them via the corresponding driving command at Execute Use v to navigate down Velocity When actuated the drive executes the drive command at a constant velocity Relative When actuated the drive moves to the relative position which can be pre set at Position Distance...

Page 632: ...h on Disabled The axis is disabled Axis error An axis error is pending indicating the error number Ä Chap 13 10 ErrorID Additional error information page 637 n SW Limits As soon as SW limits exist this is shown here n PLCopen The PLCopen status is shown here Drive n Status The status of the drive controller is shown here n HW Limits Here a possible limitation in your drive controller is shown here...

Page 633: ...e TRUE and MC_Stop Execute FALSE There are the following states n Disabled Basic state of an axis Axis can not be moved by any function block n Error Stop An error has occurred on the axis Axis is stopped and is blocked for further motion tasks Axis remains in this state until the error is solved and a RESET is triggered Errors on an axis are also reported via the corresponding function block Erro...

Page 634: ...rol block axis control page 544 As soon as the target of the movement task is reached the state automatically changes to Standstill n Continuous Motion The axis performs a permanent movement task Ä Chap 13 7 3 8 FB 805 MC_MoveVelocity drive axis with constant velocity page 559 Ä Chap 13 7 2 2 FB 860 VMC_AxisControl Control block axis control page 544 13 9 2 Replacement behavior of motion jobs In t...

Page 635: ...via Done_2 Since Exe_2 was reset before Done_2 is only set for one cycle B A running MC_MoveRelative job A1 is replaced by a further MC_MoveRelative job A2 2 The abort is reported at time 2 via Abort_1 The axis is then moved with the new velocity by the new distance Distance 500 0 The successful achievement of the new target position is reported via Done_2 VIPA SPEED7 Motion control Simple Motion ...

Page 636: ...is n The dynamic parameter for Move functions are preset in engineering units with second as the time base If an axis is scaled in millimetres so the units are for Velocity mm s Acceleration mm s2 and Deceleration mm s2 n All the function blocks have two fault outputs to indicate errors during command exe cution n Error indicates the error and ErrorID shows an additional error number n The outputs...

Page 637: ...indicates by the Valid output that the data of the outputs are valid However the data can constantly be updated during Valid is TRUE n BufferMode is not supported 13 10 ErrorID Additional error information ErrorID Description Remark 0x0000 No Error 0x8y24 Error in block parameter y with y n 1 Error in PROTOKOLL n 2 Error in PARAMETER n 3 Error in BAUDRATE n 4 Error in CHARLENGTH n 5 Error in PARIT...

Page 638: ...801E SDO parameter value out of range MC_Home MC_WriteParameter 0x801F The Type in ANY is not BYTE Read write parameter 0x8020 Different configuration of the user units in cam and master axis 0x8021 Different configuration of the user units in cam and slave axis 0x8022 There is no PROFIBUS PROFINET device at the logical address specified in LADDR from which you can read consistent data Read write ...

Page 639: ...000 0x8043 Invalid value at parameter JogAccelerationTime Modbus V1000 0x8044 Invalid value at parameter JogDecelerationTime Modbus V1000 0x8045 Invalid value at parameter JogVelocity MaxVelocityApp Modbus V1000 0x80C8 Modbus communication error No response from the server in the defined period timeout can be parametrized via interface Modbus V1000 0x809y Error in value of the block parameter y wi...

Page 640: ... Error in 1 Parameter n 2 Error in the 2 Parameter n VMC_ConfigMaster_RTU 0x8301 No cyclic communication with master axis possible 0x8302 Command is in current PLCopen State of the master axis not allowed 0x8303 Command is not supported by the master axis 0x8304 Master axis is not in status Pre Operational 0x8305 Master axis data block number has been changed 0x8306 Communication errors at the mas...

Page 641: ...g start address Modbus V1000 0x8383 Modbus communication error Server returns Exception code 02h Modbus V1000 0x8384 Modbus communication error Server returns Exception code 04h Modbus V1000 0x8386 Modbus communication error Server returns wrong function code Modbus V1000 0x8388 Modbus communication error Server returns wrong value or wrong number Modbus V1000 0x8400 MC_Power Unexpected Drive Stat...

Page 642: ..._FactorVelocity VMC_InitSigma7W_EC 0x8517 Wrong value in M2_FactorAcceleration VMC_InitSigma7W_EC 0x8518 Wrong value in M2_MaxVelocityApp VMC_InitSigma7W_EC 0x8519 Wrong value in M2_MaxAccelerationApp VMC_InitSigma7W_EC 0x851A Wrong value in M2_MaxDecelerationApp VMC_InitSigma7W_EC 0x8603 Error homing at the drive speed 0 MC_Home 0x8604 Error homing at the drive speed 0 MC_Home 0x8700 Error Invali...

Page 643: ...use of local 0x872B SDO error Unable to transfer or store data to application because of present device state 0x872C SDO error The dynamic generation of the object dictionary failed or missing object dictionary 0x872D SDO error Unknown code 0x8750 Wrong value in LADDR 0x8751 Type other than BYTE in ANY pointer 0x8752 There is no PROFIBUS DP module or PROFINET IO device on the address specified via...

Page 644: ...t 0xC001 Internal error Invalid value at parameter Cmd ActiveType Modbus V1000 0xC002 Internal Error Invalid value at parameter Cmd State Modbus V1000 VIPA SPEED7 Motion control Simple Motion Control Library ErrorID Additional error information HB00 OPL_SP7 Operation list en 18 30 644 ...

Page 645: ...only be entered with one second accuracy The day of the week is calcu lated automatically by SFC 0 Remember that you must first create the data type DT by means of FC 3 D_TOD_DT before you can supply it to the input parameter see time functions FC 3 FC 6 FC 7 FC 8 FC 33 FC 40 FC 1 FC 35 FC 34 Value Description 0000h no error 8080h error in the date 8081h error in the time 14 1 2 SFC 1 READ_CLK Rea...

Page 646: ...he current value of the runtime meter When a restart of the CPU is executed the run time meter must be restarted with the SFC 3 The runtime meter has a range of value from 0 32767 hours 14 1 4 SFC 2 SET_RTM Set run time meter The SFC 2 SET_RTM set run time meter sets the run time meter of the CPU to the specified value VIPA CPUs contain 8 run time meters Parameter Declaration Data type Memory bloc...

Page 647: ...is signal to 1 to start the run time meter RET_VAL OUTPUT INT I Q M D L The return value contains an error code if an error is detected when the function is being processed Value Description 0000h no error 8080h Incorrect number for the run time meter 14 1 6 SFC 4 READ_RTM Read run time meter The SFC 4 READ_RTM read run time meter reads the contents of the run time meter The output data indicates ...

Page 648: ...VAL Return value Value Description 0000h no error 8080h Incorrect number for the run time meter 8081h run time meter overflow 14 1 7 SFC 5 GADR_LGC Logical address of a channel The SFC 5 GADR_LGC convert geographical address to logical address determines the logical address of the channel of a I O module Parameter Declaration Data type Memory block Description SUBNETID INPUT BYTE I Q M D L constan...

Page 649: ...ameter must be 0 Offset in user data address space of the module The return value contains an error code if an error is detected when the function is being processed Value Description 0000h no error 8094h No subnet with the specified SUBNETID configured 8095h Illegal value for parameter RACK 8096h Illegal value for parameter SLOT 8097h Illegal value for parameter SUBSLOT 8098h Illegal value for pa...

Page 650: ...t class 1 Start events of standard OBs 2 Start events of synchronous error OBs 3 Start events of asynchronous error OBs EV_NUM BYTE event number PRIORITY BYTE Structure element PRORITY shows the priority class of the cur rent OB NUM BYTE Structure element NUM contains the number of the current OB or of the last OB started TYP2_3 BYTE Data identifier 2_3 identifies the information entered into ZI2_...

Page 651: ...VED_1 BYTE TYP1 BYTE OB80_RESERVED_2 BYTE ZI1 WORD OB80_ERROR_INFO WORD ZI2_3 DWORD OB80_ERR_EV_CLASS OB80_ERR_EV_NUM OB80_OB_PRIORITY OB80_OB_NUM BYTE BYTE BYTE BYTE The following table shows the assignment of the structure elements of parameter START_UP_SI of SFC 6 and the respective local variables of OB 100 START_UP_SI Structure element Data type Logical Variable Data type EV_CLASS BYTE OB100_...

Page 652: ...SFC 7 DP_PRAL on a DP slave and you call this SFC again before the master has acknowl edged the requested hardware interrupt the way in which the SFC reacts depends largely on whether the new call involves the same job if the parameters IOID and LADDR match a job that is not yet completed the SFC call is interpreted as a follow on call regardless of the value of the parameter AL_INFO and the value...

Page 653: ...d block configured by user 8093h The parameters IOID and LADDR address a module that is not capable of a hardware interrupt request 80B5h Call in the DP master not permitted 80C3h The required resources memory etc are occupied at this time 80C5h Distributed I O device is not available at this time i e station failure 80C8h The function is not permitted in the current DP master operating mode 8xyyh...

Page 654: ...tivated DP slaves is updated with 0 that is it is handled just as for failed DP slaves With VIPA you can not deactivate all DP slaves At least 1 slave must remain activated at the bus If you are using your program to directly access the user data of a previously deactivated DP slave the I O access error OB OB 122 is called and the corresponding start event is entered in the diagnostic buffer If yo...

Page 655: ...ion job start the SFC 12 again with the same value for LADDR and MODE 2 Repeat the call of the SFC 12 until suc cessful cancellation of the activation is indicated by RET_VAL 0 If you wish to activate DP slaves which take part in the cross communication we recom mend that you first activate the transmitters and then the receivers listeners At a restart the slaves are activated automatically After ...

Page 656: ... 80A1h The addressed DP slave could not be parameterized This error code is possible only with MODE 1 Note The SFC supplies this information only if the activated slave fails again during parameterization If parameterization of a single module was unsuccessful the SFC returns the error information 0000h 80A2h The addressed DP slave does not return an acknowledgement 80A3h The DP master concerned d...

Page 657: ...nuals for the DP slaves that you are using Byte Description 0 station status 1 1 station status 2 2 station status 3 3 master station number 4 manufacturer code high byte 5 manufacturer code low byte 6 additional slave specific diagnostics The SFC 13 is executed as asynchronous SFC i e it can be active for multiple SFC calls Output parameters RET_VAL and BUSY indicate the status of the command Rel...

Page 658: ...d When the length of RECORD n is less than the amount of data the data is discarded and the respective error code is entered into RET_VAL n is larger than or equal to the amount of data then the data is transferred into the target areas and RET_VAL is set to the actual length as a positive value It is essential that the matching RECORD parameters are be used for all calls that belong to a single t...

Page 659: ...tion or with multiple DP identifiers then a single SFC 14 call can only access the data of a single module DP identifier at the configured start address SFC 14 is used because a load command accessing the periphery or the process image of the inputs can read a maximum of four contiguous bytes Consistent data Consistent data is data where the contents belongs to the same category and that may not b...

Page 660: ...es consistent data that is located in parameter RECORD to the DP norm slave The length of the con sistent data must be three or more than four bytes while the maximum length is 128Byte Please refer to the manual of your specific CPU for details Data is transferred synchro nously i e the write process is completed when the SFC has terminated The length of the respective source area must be the same...

Page 661: ...pecified source area is not equal to the configured user data length 80B2h External DP interface system error 80B3h External DP interface system error 80C1h The data of the write command that was previously issued to the module has not yet been processed 80C2h External DP interface system error 80Fxh External DP interface system error 85xyh External DP interface system error 808xh External DP inte...

Page 662: ...th a time stamp and the associated value When the call to the SFC occurs at a time when the signal statuses of the two most recent valid SFC calls has not been sent signal overflow then the current signal status as well as the last signal status are discarded and an overflow code is entered into temporary memory The signal that occurred before the last signal will be sent as soon as possible inclu...

Page 663: ...C 17 SFC 18 call 8085h The specified EV_ID has not been registered 8086h An SFC call for the specified EV_ID is already being processed with a lower priority class 8087h The value of the message triggering signal was 0 during the first call to the SFC 17 SFC 18 8088h The specified EV_ID has already been used by another type of SFC that is currently still occupying memory space 8xyyh General error ...

Page 664: ...ror has occurred 8081h The specified EV_ID lies outside of the valid range 8082h No memory is allocated to this EV_ID at present possible cause the status of the respective signal has never been 1 or it has already changed back to status 0 8xyyh General error information Ä Chap 4 2 General and Specific Error Information RET_VAL page 66 14 1 16 SFC 20 BLKMOV Block move The SFC 20 BLKMOV block move ...

Page 665: ...ING are not permitted Source and target field must not overlap If the specified target field is larger than the source filed then only the amount of data located in the source field will be copied When the specified target field should how ever be smaller than the source filed then only the amount of data that the target field can accommodate will be copied If the type of the ANY pointer source or...

Page 666: ...ecified target field is not an integer multiple of the length of input parameter BVAL the target field will be filled up to the last byte If the target field is smaller than the source field only the amount of data that can be accommodated by the target will be copied Values cannot be written with the SFC 21 into n the following blocks FC SFC FB SFB SDB n counters n timers n memory blocks of the p...

Page 667: ... requires 8bytes of memory The return value contains an error code if an error is detected when the function is being processed The SFC 21 returns no specific error information 14 1 18 SFC 22 CREAT_DB Create a data block The SFC 22 CREAT_DB create data block allows the application program to create a data block that does not contain any values A data block is created that has a number in the speci...

Page 668: ...as created When an error occurs bit 15 of RET_VAL was set a value of 0 is entered into DB_NUMBER The return value contains an error code if an error is detected when the function is being processed Value Description 0000h no error 8091h You issued a nested call to the SFC 22 8092h The function Create a DB cannot be executed at present because n the function Compress application memory is active 80...

Page 669: ...T WORD I Q M D L constant Number of the DB that must be deleted RET_VAL OUTPUT INT I Q M D L The return value contains an error code if an error is detected when the function is being processed The return value contains an error code if an error is detected when the function is being processed Value Description 0000h no error 8091h The maximum nesting depth of the respective CPU for nested calls t...

Page 670: ...ror 80A1h Error in input parameter DB_NUMBER the selected actual parameter n has a value of 0 n exceeds the maximum DB number that is possible on the CPU that is being used 80B1h A DB with the specified number does not exist on the CPU 80B2h A DB with the specified number was created with the key word UNLINKED 14 1 21 SFC 25 COMPRESS Compressing the User Memory Gaps can occur in the load memory an...

Page 671: ...e of day interrupt OB must have been configured by hardware configuration or by means of the SFC 28 SET_TINT in the user program n The time of day interrupt OB must have been activated by hardware configuration or by means of the SFC 30 ACT_TINT in the user program n The time of day interrupt OB must not have been de selected n The time of day interrupt OB must exist in the CPU n When the SFC 30 i...

Page 672: ...ng processed Value Description 0000h No error has occurred 8090h OB_NR parameter error 8091h SDT parameter error 8092h PERIOD parameter error 80A1h The stated date time has already expired 14 1 22 3 SFC 29 CAN_TINT Cancel time of day interrupt The SFC 29 CAN_TINT cancel time of day interrupt deletes the start date and time of the specified time of day interrupt organization block Parameters Parame...

Page 673: ...R parameter error 80A0h No start date time was defined for the respective time of day interrupt OB 80A1h The activated time has expired this error can only occur when the function is executed once only 14 1 22 5 SFC 31 QRY_TINT Query time of day interrupt The SFC 31 QRY_TINT query time of day interrupt can be used to make the status of the specified time of day interrupt organization block availab...

Page 674: ...ed the values of DTIME and SIGN appear in the startup event information of the specified OB The following conditions must be satisfied before a time delay interrupt OB may be called n the time delay interrupt OB must have been started using the SFC 32 n the time delay interrupt OB must not have been de selected n the time delay interrupt OB must exist in the CPU Parameters Parameter Declaration Da...

Page 675: ... 32 n The time delay interrupt OB must not have been de selected n The time delay interrupt OB must exist in the CPU Parameters Parameter Declaration Data type Memory block Description OB_NR INPUT INT I Q M D L constant Number of the OB that must be cancelled OB 20 OB 21 RET_VAL OUTPUT INT I Q M D L The return value contains an error code if an error is detected when the function is being processe...

Page 676: ...ts are not discarded 2 0 Time delay interrupt has not been activated and has not expired 3 4 0 Time delay interrupt OB has not been loaded 5 0 An active test function disables execution of the time delay interrupt OB 14 1 26 SFC 36 MSK_FLT Mask synchronous errors The SFC 36 MSK_FLT mask synchronous faults is used to control the reaction of the CPU to synchronous faults by masking the respective sy...

Page 677: ...nous faults unmasks any masked synchro nous faults A call to the SFC 37 unmasks the synchronous faults of the current priority class The respective bits in the fault mask of the input parameters are set to 1 This results in new fault masks that you can read via the output parameters Queried entries are deleted from in the error register Parameters Parameter Declaration Data type Memory block Descr...

Page 678: ...faults ACCFLT_QUERY INPUT DWORD I Q M D L constant Query access faults RET_VAL OUTPUT INT I Q M D L The return value contains an error code if an error is detected when the function is being processed PRGFLT_ESR OUTPUT DWORD I Q M D L Programming faults that have occurred ACCFLT_ESR OUTPUT DWORD I Q M D L Access faults that have occurred Value Description 0000h All the specified faults have been m...

Page 679: ...t as follows n Time of day interrupts 10 n Time delay interrupts 20 n Cyclic interrupts 30 n Hardware interrupts 40 n Interrupts for DP V1 50 n Asynchronous error interrupts 80 Entries into the diagnostic buffer are continued 02 All new occurrences of a specified interrupt are disabled You specify the interrupt using the OB number Entries into the diagnostic buffer are continued 80 All new occurre...

Page 680: ... Declaration Data type Memory block Description MODE INPUT BYTE I Q M D L constant Specifies which interrupts and asynchronous errors will be enabled OB_NR INPUT INT I Q M D L constant OB number RET_VAL OUTPUT INT I Q M D L If an error occurs while the function is active the return value contains an error code MODE MODE Description 00 All newly occurring interrupts and asynchronous errors are enab...

Page 681: ...completed Parameter Declaration Data type Memory area Description RET_VAL OUTPUT INT I Q M D L Number of disable calls number of calls to the SFC 41 When the SFC has been completed the return value RET_VAL indicates the number of disables i e the number of calls to the SFC 41 processing of all alarm interrupts is only enabled again when RET_VAL 0 14 1 32 SFC 42 EN_AIRT Enabling delayed interrupts ...

Page 682: ...t to access the module The SFC 44 REPL_VAL can be used in OB 122 to transfer a suitable replacement value into ACCU1 of the program level that was interrupted The program will be continued with this replacement value The information required to select a replacement value e g the module where the failure occurred the respective address are available from the local variables of OB 122 Parameters Par...

Page 683: ...e logical address as well as the offset in the user data address space for the module Parameter Declaration Data type Memory block Description IOID INPUT BYTE I Q M D L constant Identifier for the address space 54h peripheral input PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LADD...

Page 684: ...rror code if an error is detected when the function is being processed Value Description 0000h No error has occurred 8090h The specified logical address is not valid or an illegal value exists for parameter IOID 14 1 38 SFC 50 RD_LGADR Read all logical addresses of a module The SFC 50 RD_LGADR read module logical addresses determines all the stipulated logical addresses of a module starting with a...

Page 685: ...IOID 80A0h Error in output parameter PEADDR data type of the field elements is not WORD 80A1h Error in output parameter PAADDR data type of the field elements is not WORD 80A2h Error in output parameter PEADDR the specified field could not accommodate all the logical addresses 80A3h Error in output parameter PAADDR the specified field could not accommodate all the logical addresses 14 1 39 SFC 51 ...

Page 686: ...you may not evaluate DR but only SSL_HEADER Otherwise the product of LENGTHDR and N_DR shows the number of bytes stored in DR The return value contains an error code if an error is detected when the function is being processed Value Description 0000h no error 0081h The length of the result field is too low The function still returns as many records as possible The SSL header indicates the returned...

Page 687: ... issue a call to SFC 51 RDSYSST with parameters SSL_ID 0132h and INDEX 0005h Sending of user defined diagnostic messages is possible if the fourth word of the returned record set is set to 1 If it should contain a value of 0 sending is not possible The diagnostic message can only be entered into the send buffer if this is not full At a maximum of 50 entries can be stored in the send buffer If the ...

Page 688: ...e event ID This is not preset by the message server INFO1 INPUT ANY I Q M D L Additional information length 1 word INFO2 INPUT ANY I Q M D L Additional information length 2 words RET_VAL OUTPUT INT I Q M D L The return value contains an error code if an error is detected when the function is being pro cessed When SEND is set to 1 the user defined diagnostic message is sent to all partners that hav...

Page 689: ...ered the diagnostic event has been entered into the diagnostic buffer 8083h Data type INFO1 not valid 8084h Data type INFO2 not valid 8085h EVENTN not valid 8086h Length of INFO1 not valid 8087h Length of INFO2 not valid 8091h Error message identical to error code 0091h 8092h Send operation currently not possible send buffer full the diagnostic event has been entered into the diagnostic buffer 14 ...

Page 690: ...B1xy Parameter RECORD defines the target area where the record will be saved Parameters Parameter Declaration Data type Memory block Description IOID INPUT BYTE I Q M D L constant Identifier for the address space 54h peripheral input PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LA...

Page 691: ...e SFC is only meaningful when the error has been removed Example for permanent errors incorrect length of the record that must be transferred 80B1h Value Description 7000h First call with REQ 0 data transfer not active BUSY is set to 0 7001h First call with REQ 1 data transfer initiated BUSY is set to 1 7002h Intermediate call REQ irrelevant data transfer active BUSY is set to 1 8090h The specifie...

Page 692: ... area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LADDR INPUT WORD I Q M D L constant Logical base address of the module For hybrid modules the lower of the two addresses must be specified RECNUM INPUT BYTE I Q M D L constant Record number valid values 0 240 RECORD INPUT ANY I Q M D L Record RET_VAL OUTPUT INT I Q M D L The return value contains an e...

Page 693: ...is being transferred to the module module was removed during the transfer or module failed 80A2h DP protocol fault in layer 2 possible hardware interface fault in the DP slave 80A3h DP protocol fault for user Interface user 80A4h Communication failure this fault occurs between the CPU and the external DP interface 80B0h SFC cannot be used with this type of module or the module does not recognize t...

Page 694: ...constant Identifier for the address space 54h peripheral input PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LADDR INPUT WORD I Q M D L constant Logical base address of the module For hybrid modules the lower of the two addresses must be specified RECNUM INPUT BYTE I Q M D L consta...

Page 695: ...le module was removed during the transfer or module failed 80A2h DP protocol fault in layer 2 possible hardware interface fault in the DP slave 80A3h DP protocol fault for user Interface user 80A4h Communication failure this fault occurs between the CPU and the external DP interface 80B0h SFC cannot be used with this type of module or the module does not recognize the record 80B1h The length of th...

Page 696: ... L constant REQ 1 write request IOID INPUT BYTE I Q M D L constant Identifier for the address space 54h peripheral input PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LADDR INPUT WORD I Q M D L constant Logical base address of the module For hybrid modules the lower of the two addr...

Page 697: ... to the module module was removed during the transfer or module 80A2h DP protocol fault in layer 2 possible hardware interface fault in the DP slave 80A3h DP protocol fault for user Interface user 80A4h Communication failure this fault occurs between the CPU and the external DP interface 80B0h SFC cannot be used with this type of module or the module does not recognize the record 80B1h The length ...

Page 698: ... PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier 54h LADDR INPUT WORD I Q M D L constant Logical base address of the module For hybrid modules the lower of the two addresses must be specified RECNUM INPUT BYTE I Q M D L constant Record number valid range 2 240 RECORD INPUT ANY I Q M D L ...

Page 699: ...pe definition that is not equal to BYTE 8093h This SFC is not valid for the module selected by LADDR and IOID 80A1h Negative acknowledgement when the record is being transferred to the module module was removed during the transfer or module failed 80A2h DP protocol fault in layer 2 possible hardware interface fault in the DP slave 80A3h DP protocol fault for user Interface user 80A4h Communication...

Page 700: ...pendent this block cannot be interrupted Parameter Declaration Data type Memory block Description REQ INPUT BOOL I Q M D L constant REQ 1 read request IOID INPUT BYTE I Q M D L constant Identifier for the address space 54h peripheral input PI 55h peripheral output PQ For hybrid modules the SFC returns the area identifier of the lower address When the addresses are equal the SFC returns identifier ...

Page 701: ...ary error error codes 80A2h 80A4h 80Cxh For this type of error it is possible that the error corrects itself without intervention For this reason it is recommended that you re issue the call to the SFC once or more than once Example for temporary errors the required resources are occupied at present 80C3h n Permanent error error codes 809xh 80A0h 80A1h 80Bxh These errors cannot be corrected withou...

Page 702: ...rently occupied 80C4h Communication error 80C5h Decentralized periphery not available 80C6h The transfer of records was aborted due to a priority class abort A general error 8745h only indicates that access to at least one byte of I O memory containing the record was disabled However the data was read successfully from the module and saved to the I O memory block 14 1 48 SFC 64 TIME_TCK Read syste...

Page 703: ...L I Q M D L constant control parameter request to activate initiates the operation CONT INPUT BOOL I Q M D L constant control parameter continue defines whether the connection to the communication partner is termi nated or not when the operation has been com pleted DEST_ID INPUT WORD I Q M D L constant Address parameter destination ID Contains the MPI address of the communication partners REQ_ID I...

Page 704: ...lassified as follows Value Description 809xh Error on the CPU where the SFC is being executed 80Axh Permanent communication error 80Bxh Error on the communication partner 80Cxh Temporary error Value Description 0000h Processing completed without errors 7000h First call with REQ 0 no data transfer is active BUSY is set to 0 7001h First call with REQ 1 data transfer initiated BUSY is set to 1 7002h ...

Page 705: ...b net n You have addressed the local station on the MPI sub net n The communication partner cannot be contacted any longer n Temporary lack of resources for the communication partner 14 1 50 SFC 66 X_RCV Receive data The SFC 66 X_RCV can be used to receive data that was sent by means of SFC 65 X_SEND by one or more external communication partners SFC 66 can determine whether the data that was sent...

Page 706: ...o test output parameters RET_VAL and REQ_ID RET_VAL contains the length of the data block in bytes REQ_ID contains the operation code of the send block If the queue should contain multiple data blocks param eters REQ_ID and RET_VAL refer to the oldest data block contained in the queue with EN_DT 1 When input parameter EN_DT 1 then the oldest data block in the queue is copied into the target block ...

Page 707: ...s of the oldest data block that was entered into the queue as a positive number n when EN_DT 1 and NDA 1 RET_VAL contains the length in bytes of the data block that was copied into the receive bufferRD as a positive number Error information The real error information that is contained in the table specific error information a o may be classified as follows Value Description 809xh Error on the CPU ...

Page 708: ...d e g by a receive operation 80C2h Temporary lack of resources for the communication partner e g n The communication partner is currently processing the maximum number of operations n The required resources memory etc are already occupied n Not enough memory initiate compression 80C3h Error when establishing a connection e g n The local station is connected to the MPI sub net n You have addressed ...

Page 709: ...Q M D Reference to the receive buffer receive data area The following data types are permitted BOOL BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5_TIME DATE_AND_TIME as well as arrays of the above data types with the exception of BOOL The following rules must be satisfied to prevent the data consistency from being compro mised n Active CPU receiver of data The receive buffer should be read in...

Page 710: ...ion partners is not valid e g n bad IOID n bad base address exists n bad MPI address 126 8092h Error in SD or RD e g n illegal length for RD n the length or the data type of RD does not correspond with the received data n RD NIL is not permitted 8095h The block is already being processed on a priority class that has a lower priority 80A0h Error in received acknowledgement 80A1h Communication failu...

Page 711: ...be used to write data to an external communication partner that is located outside the local station No relevant SFC exists on the communication partner The operation is started when input parameter REQ is set to 1 Thereafter the call to SFC 68 is repeated until the value of output parameter BUSY becomes 0 The length of the send buffer defined by parameter SD in the sending CPU must be identical o...

Page 712: ...of data that may be written into the send buffer is determined by the block size of the passive CPU sender of data n Passive CPU receiver of data Receive data should be read from the receive buffer while interrupts are inhibited When the CPU changes to STOP mode the connection established by means of the SFC 68 is terminated and data can no longer be sent If the send data had already been copied i...

Page 713: ... block that must be transferred is wrong 80B2h HW error module does not exist n the slot that was configured is empty n Actual module type does not match the required module type n Decentralized periphery not available n The respective SDB does not contain an entry for the module 80B3h Data can either be read or written e g write protected DB 80B4h The communication partner does not support the da...

Page 714: ...o the respective SFC 65 67 or 68 must be repeated after the connection has been termi nated with REQ 0 and CONT 0 The connection resources are only available again when BUSY 0 The SFC 69 can only be called on the side where SFC 65 67 or 68 is being executed Parameter Declaration Data type Memory block Description REQ INPUT BOOL I Q M D L constant Control parameter request to activate used to initi...

Page 715: ...n a priority class that has a lower priority 80A0h Error in the acknowledgement that was received 80A1h Communication failures SFC call after an existing connection has been terminated 80B1h ANY pointer error The length of the data block that must be transferred is wrong 80B4h ANY pointer data type error or ARRAY of the specified data type is not permitted 80B6h The received acknowledgement contai...

Page 716: ...s or modules with packed addresses the diagnostic address is returned Parameters Parameter Declaration Data Type Memory Area Description MASTER INPUT INT I Q M D L constant Area ID n 0 if the slot is located in one of the racks 0 3 S7 300 or 0 bis 21 S7 400 n 1 to 32 DP master system ID of the associated field device if the slot is located in a field device on PROFIBUS n 100 to 115 PROFINET IO sys...

Page 717: ...for the selected slot 8xyyh General error information Ä Chap 4 2 General and Specific Error Information RET_VAL page 66 14 1 55 SFC 71 LOG_GEO Determining the slot belonging to a logical address SFC 71 LOG_GEO convert logical address to geographical address lets you determine the module slot belonging to a logical address as well as the offset in the user data area of the module Description VIPA S...

Page 718: ... 300 or 0 21 S7 400 n 1 to 32 DP master system ID of the associated field device if the slot is located in a field device on PROFIBUS n 100 to 115 PROFINET IO system ID of the associated field device if the slot is located in a field device on PROFINET STATION OUTPUT INT I Q M D L n No of rack if area ID 0 n Station number of field device if area ID 0 SLOT OUTPUT INT I Q M D L Slot no SUBSLOT OUTP...

Page 719: ...TION Station number n SLOT Slot no in the station n SUBSLOT Submodulnummer n OFFSET Offset in user data address area of the associated module 3 S5 P area n MASTER 0 n STATION Rack no n SLOT Slot no of the adapter module n SUBSLOT 0 n OFFSET Address in the S5 x area 4 S5 Q area n MASTER 0 n STATION Rack no n SLOT Slot no of the adapter module n SUBSLOT 0 n OFFSET Address in the S5 x area 5 S5 IM3 a...

Page 720: ... are irrelevant to the execution The maximum amount of data that can be copied is 512bytes It is not possible to interrupt the copy process For this reason it is important to note that any use of the SFC 81 will increase the reaction time of your CPU to interrupts Parameter Declaration Data type Memory block Description SRCBLK INPUT ANY I Q M D L Specifies the memory block that must be copied sour...

Page 721: ...f all 32 bit runtime meters of your CPU call SFC 51 RDSYSST with SZL_ID W 16 0132 and INDEX W 16 000B for runtime meters 0 7 or INDEX W 16 000C for runtime meters 8 15 Parameter Deklaration Datentyp Speicherber eich Beschreibung NR INPUT BYTE I Q M D L constant Number of the runtime meter Numbering starts at 0 You will find the number of runtime meters of your CPU in the technical spec ifications ...

Page 722: ...of the runtime meter 8091h Illegal value in input parameter MODE 8xyyh General error information Ä Chap 4 2 General and Specific Error Information RET_VAL page 66 14 1 58 SFC 102 RD_DPARA Reading Predefined Parameters With SFC 102 RD_DPARA you can read the record set with the number RECNUM of a selected module from system data configured with STEP7 The read record set is entered into the target ar...

Page 723: ...AD_SI Reading Dynamic System Resources When messages are generated with SFCs 107 ALARM_DQ and 108 ALARM_D the operating system occupies temporarily system memory space For example if you do not delete a FB that exists in the CPU with SFC 107 or SFC 108 calls it may happen that corresponding system resources stay permanently occupied If you reload the FB with SFC 108 or SFC 108 calls it may happen ...

Page 724: ...001h informs you if the SFC cannot enter all system resources to be read in SYS_INST In this case call SFC 105 with MODE 0 and the same SI_ID as for the pre vious call until the value of RET_VAL is 0000h Since the operating system does not coordinate the SFC 105 calls that belong to the read job you should execute all SFC 105 calls with the same priority class The target area for the fetched occup...

Page 725: ...get area for the fetched system resources RET_VAL Return value Error code Description 0000h No error occurred 0001h Not all system resources could be read because the SYS_INT target range you have selected is too short 8081h only with MODE 2 or 3 You have assigned the value 0 to SI_ID 8082h only with MODE 1 You have assigned one of 0 different values to SI_ID 8083h only with MODE 0 You have assign...

Page 726: ...esource occupied by the call of SFC 107 SFC 108 with EV_ID ev_id call of the SFC 106 with SI_ID ev_id 3 The system resource occupied by the call of SFC 107 SFC 108 with CMP_ID cmp_id call of the SFC 106 with SI_ID e v_id Parameters Parameter Declaration Data type Memory Area Description MODE INPUT INT I Q M D L constant Job identifier Permissible values n 1 delete all system resources n 2 delete t...

Page 727: ...ll with SIG 0 For SFC 107 ALARM_DQ this time period also includes the time until the incoming signal is acknowledged by one of the reported display devices if necessary If during the signal cycle the message generating block is overloaded or deleted the associated system resource remains occupied until the next restart The additional functionality of SFCs 107 ALARM_DQ and 108 ALARM_D compared to S...

Page 728: ...missible length or n Access to user memory not possible for example access to deleted DB The activated message is sent n The associated value points to a value in the local data area The message is sent S7 400 only 0002h Warning The last free message acknowledge memory was occupied S7 400 only 8081h The specified EV_ID lies outside the valid range 8082h Message loss because your CPU has no more re...

Page 729: ...e 1 if CV PV n When it is necessary that the instances of this SFB are initialized after a restart then the respective instances must be initialized in OB 100 with R 1 Parameter Declaration Data type Memory block Description CU INPUT BOOL I Q M D L constant Count input R INPUT BOOL I Q M D L constant Reset input R takes precedence over CU PV INPUT INT I Q M D L constant Preset value Q OUTPUT BOOL ...

Page 730: ... n When it is necessary that the instances of this SFB are initialized after a restart then the respective instances must be initialized in OB 100 with LOAD 1 and PV required preset value for CV Parameter Declaration Data type Memory block Description CD INPUT BOOL I Q M D L con stant Count input LOAD INPUT BOOL I Q M D L con stant Load input LOAD takes precedence over CD PV INPUT INT I Q M D L co...

Page 731: ...red n When the count reaches the lower limit of 32768 any further edges are ignored n When a 1 is applied to the LOAD input then the counter is set to preset value PV n The counter value is reset to zero if reset input R has signal state 1 Positive signal edges at the counter inputs and signal state 1 at the load input remain without effect while input R has signal state 1 n Output QU has signal s...

Page 732: ...FB call at input CU increments the counter Count down input A rising edge with respect to the most recent SFB call at input CD decrements the counter Reset input When input R is set to 1 the counter is reset to 0 irrespective of the status of inputs CU CD and LOAD Load input When the LOAD input is set to 1 the counter is preset to the value applied to PV irre spective of the values of inputs CU an...

Page 733: ...put is the value of the PT input Output ET is reset when input IN changes to 0 however not before the time PT has expired n When it is necessary that the instances of this SFB 3 are initialized after a restart then the respective instances must be initialized in OB 100 with PT 0 ms Parameter Declaration Data type Memory block Description IN INPUT BOOL I Q M D L constant Start input PT INPUT TIME I...

Page 734: ... n The timer runs only in the STARTUP and RUN modes n A rising edge at the IN input causes a rising edge at output Q after the time PT has expired Q then remains set until the IN input changes to 0 again If the IN input changes to 0 before the time PT has expired output Q remains set to 0 n The ET output provides the time that has passed since the last rising edge at the IN input Its maximum value...

Page 735: ... applied to input IN The highest value that output ET can contain is the value of input PT Output ET is reset when input IN changes to 0 14 2 6 SFB 5 TOF Create turn off delay SFB 5 can be used to delay a falling edge by period PT Here you have the following characteristics n The timer runs only in the STARTUP and RUN modes n A rising edge at the IN input causes a rising edge at output Q A falling...

Page 736: ...ut IN to PT must be The range of values is defined by the data type TIME Output Q The time delay is started by a rising edge at input IN results in a rising edge at output Q When a falling edge is applied to input IN output Q will also produce a falling edge when delay PT has expired If the level at input IN changes to 1 before time delay PT has expired then the level at output Q will remain at 1 ...

Page 737: ...Siemens S7 400 Communication SFB 12 The send job is activated after calling the block and when there is a rising edge at REQ Sending the data from the user memory is carried out asynchronously to the processing of the user program The start address and the maximum length of the data to be sent are specified by SD_1 You can determine the job specific length of the data field with LEN In this case L...

Page 738: ... data type BOOL is valid Bit field not permitted BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5TIME DATE_AND_TIME COUNTER TIMER LEN IN_OUT WORD I Q M D L The length of the send data block in bytes Error information ERROR STATUS dec imal Description 0 11 Warning the new task is not active since the previous task has not completed 0 25 The communication process was initiated The task is being p...

Page 739: ...the FB SFB n contains an instance DB that does not belong to the FB SFB 12 n contains a global DB instead of an instance DB n could not locate an instance DB load a new instance DB from the PG 1 18 R_ID already exists in the connection ID 1 20 Not enough memory To guarantee consistent data the segment of send buffer SD_1 that is currently being used can only be overwritten when current send proces...

Page 740: ...ameter Declaration Data type Memory block Description EN_R INPUT BOOL I Q M D L constant control parameter enabled to receive indicates that the partner is ready for reception ID INPUT WORD I Q M D constant A reference for the connection Format W 16 xxxx R_ID INPUT DWORD I Q M D L constant Address parameter R_ID Format DW 16 wxyzWXYZ NDR OUTPUT BOOL I Q M D L Status parameter NDR new data accepted...

Page 741: ...1 2 Function cannot be executed 1 4 Error in the receive data block pointer RD_1 with respect to the length or the data type the send data block is larger than the receive data block 1 5 Reset request received incomplete data transfer 1 8 Access to the remote object in application memory was rejected 1 10 Access to local application memory not possible e g access to deleted DB 1 12 The call to the...

Page 742: ...responding instance DB Depending upon communication function the following behavior is present n Siemens S7 300 Communication FB 14 The data is read on a rising edge at REQ The parameters ID ADDR_1 and RD_1 are transferred on each rising edge at REQ After a job has been com pleted you can assign new values to the ID ADDR_1 and RD_1 parameters n Siemens S7 400 Communication SFB 14 The SFB is starte...

Page 743: ...fer error is detected the received data are copied into the config ured receive data buffer RD_i with the next call to FB SFB 14 and parameter NDR is set to 1 n It is only possible to activate a new read process when the previous read process has been completed You must ensure that the defined parameters on the ADDR_i and RD_i areas and the number that fit in quantity length and data type of data ...

Page 744: ...llowing behavior is present n Siemens S7 300 Communication FB 15 The data is sent on a rising edge at REQ The parameters ID ADDR_1 and SD_1 are transferred on each rising edge at REQ After a job has been completed you can assign new values to the ID ADDR_1 and SD_1 parameters n Siemens S7 400 Communication SFB 15 The SFB is started on a rising edge at REQ In the process the pointers to the areas t...

Page 745: ...OL is valid Bit field not permitted BYTE CHAR WORD INT DWORD DINT REAL DATE TOD TIME S5TIME DATE_AND_TIME COUNTER TIMER n The partner CPU stores the data at the respective address and returns an acknowl edgment n This acknowledgment is tested and when an error is detected in the data transfer parameter DONE is set to 1 with the next call of FB SFB 15 n The write process can only be activated again...

Page 746: ...ese areas without corrupting the current send data 14 2 11 SFB 31 NOTIFY_8P Messages without acknowledge display 8x Generating block related messages without acknowledgement display for 8 signals n SFB 31 NOTIFY_8P represents an extension of SFB 36 NOTIFY to 8 signals n A message is generated if at least one signal transition has been detected A mes sage is always generated at the initial call of ...

Page 747: ...ll applies to every call of SFB with the corresponding instance DB The message number is automatically assigned by the Siemens STEP 7 programming tool So the con sistency of the message numbers is guaranteed The message numbers within a user program must be unique Weighting of the event Here the value 0 is the highest weighting This parameter is irrele vant for processing the message Possible valu...

Page 748: ...s not belong to SFB 31 was specified or a shared DB instead of an instance DB was specified 1 18 EV_ID was already being used by one of the SFBs 31 or 33 36 1 20 Not enough working memory 1 21 The message with the specified EV_ID is disabled 14 2 12 SFB 32 DRUM Realize a step by step switch Implementing a 16 state cycle switch using the SFB 32 n Parameter DSP defines the number of the first step p...

Page 749: ...ed cycle switching if EVENTi 1 with DSP I LST_STEP event controlled cycle switching by means of event bits EVENTi when DTBP 0 In addition it is possible to advance the cycle switch at any time even if DRUM_EN 1 by means of the JOG input Parameter Declaration Data type Memory block Description RESET INPUT BOOL I Q M D L constant Reset JOG INPUT BOOL I Q M D L constant Switch to the next stage DRUM_...

Page 750: ...wo dimensional field con taining the output values for every step S_MASK VAR ARRAY of BOOL I Q M D L constant Two dimensional field con taining the mask bits for every step Reset n The cycle switch is reset if this is set to 1 n RESET must be set to 1 when the initial call is issued to the block A rising edge with respect to the last SFB call increments the cycle switch to the next stage if the cy...

Page 751: ...rs for every step n Meaningful indices are 1 16 In this case S_PRESET x contains the timing factor of step x Two dimensional field containing the output values for every step if you have not masked these by means of S_MASK n Meaningful indices are 1 16 0 15 In this case OUT_VAL x y contains the value that is assigned to output bit OUTy in step x Two dimensional field containing the mask bits for e...

Page 752: ...en the SFB is first called a message with the current signal state is sent The message is sent to all stations logged on for this purpose n Once your acknowledgement has been received from a logged on display device the acknowledgement information is passed on to all other stations logged on for this pur pose n One message memory with 2 memory blocks is available for each instance of SFB 33 ALARM ...

Page 753: ...ue 0 is the highest weighting This parameter is irrele vant for processing the message Possible values 0 127 default value 64 Status parameter DONE Message generation completed Outgoing event has been acknowledged on a display device Initialization status 1 The ACK_DN output is reset at the negative edge It is set when your acknowledgement of the event leaving the state is received from a logged o...

Page 754: ...emporary display if no display devices support acknowl edgement triggered reporting 1 4 At the first call the specified EV_ID is outside the permitted range or the ANY pointer SD_i has a formal error or the maximum memory area that can be sent for the CPU per SFB 31 was exceeded 1 10 Access to local user memory not possible for example access to a deleted DB 1 12 When the SFB was called an instanc...

Page 755: ...s EEEEh ID is only evaluated at the first call EV_ID is only evaluated at the first call Subsequently the message number used for the first call applies to every call of SFB with the corresponding instance DB The message number is automatically assigned by the Siemens STEP 7 programming tool So the con sistency of the message numbers is guaranteed The message numbers within a user program must be ...

Page 756: ...memory 1 21 The message with the specified EV_ID is disabled After the first block call all the bits of the ACK_STATE output are set and it is assumed that the previous values of inputs SIG_i 1 i 8 were 0 14 2 15 SFB 35 ALARM_8P Messages with associated values 8x Generating block related messages with associated values for 8 signals n SFB 35 ALARM_8P represents a linear extension of SFB 33 ALARM t...

Page 757: ...ata channel for messages EEEEh ID is only evaluated at the first call EV_ID is only evaluated at the first call Subsequently the message number used for the first call applies to every call of SFB with the corresponding instance DB The message number is automatically assigned by the Siemens STEP 7 programming tool So the consistency of the message numbers is guaranteed The message numbers within a...

Page 758: ...ected for SEVERITY is higher than the per mitted range The activated message is sent with SEVERITY 127 0 25 Communication was initiated The message is being processed 1 1 Communication problems Disconnection or no logon With acknowledgement trig gered reporting active temporary display if no display devices support acknowl edgement triggered reporting 1 4 At the first call the specified EV_ID is o...

Page 759: ...atus parameter DONE Message generation completed ERROR OUTPUT BOOL I Q M D L ERROR status parameter STATUS OUTPUT WORD I Q M D L STATUS parameter Display of an error information SD_i IN_OUT ANY I Q M D T C i th associated value The signal to be monitored Data channel for messages EEEEh ID is only evaluated at the first call EV_ID is only evaluated at the first call Subsequently the message number ...

Page 760: ... sent with SEVERITY 127 0 25 Communication was initiated The message is being processed 1 1 Communication problems Disconnection or no logon 1 4 At the first call the specified EV_ID is outside the permitted range or the ANY pointer SD_i has a formal error or the maximum memory area that can be sent for the CPU per SFB 36 was exceeded 1 10 Access to local user memory not possible for example acces...

Page 761: ...Status of the internal gate STS_STRT BOOL 12 1 FALSE Status of the hardware gate STS_LTCH BOOL 12 2 FALSE Status of the latch input STS_DO BOOL 12 3 FALSE Status of the output STS_C_DN BOOL 12 4 FALSE Status of the down count Always indicates the last direction of count After the first SFB call STS_C_DN is set FALSE STS_C_UP BOOL 12 5 FALSE Status of the up count Always indicates the last directio...

Page 762: ...t counting JOB_OVAL DINT 28 0 Output value for read request RES10 BOOL 32 0 FALSE reserved RES11 BOOL 32 1 FALSE reserved RES_STS BOOL 32 2 FALSE Reset status bits Resets the status bits STS_CMP STS_OFLW STS_ZP The SFB must be twice called to reset the status bit Reset with RES_STS Per channel you may call the SFB in each case with the same instance DB since the data necessary for the internal ope...

Page 763: ...on 2 Call the SFB The job is processed immediately JOB_DONE only applies to SFB run with the result FALSE JOB_ERR TRUE if an error occurred Details on the error cause are indicated at JOB_STAT Name Data type Address DB Default Comment JOB_DONE BOOL 22 0 TRUE New job can be started JOB_ERR BOOL 22 1 FALSE Job error JOB_STAT WORD 24 0 0000h Job error ID 0000h No error 0121h Comparison value too low ...

Page 764: ...83648 231 2147483647 231 1 Writing hysteresis 0 255 Writing pulse duration 0 510ms Single periodic count main count direction up Job Valid range End value 2 2147483646 231 1 Writing counter directly 2147483648 231 end value 2 Writing the load value 2147483648 231 end value 2 Writing comparison value 2147483648 231 end value 1 Writing hysteresis 0 255 Writing pulse duration 0 510ms Single periodic ...

Page 765: ...el you may call the SFB in each case with the same instance DB since the data necessary for the internal operational are stored here Writing accesses to out puts of the instance DB is not permissible n With the SFB FREQUENC SFB 48 you have following functional options Start Stop the frequency meter via software gate SW_GATE Read the status bit Read the evaluated frequency Request to read write int...

Page 766: ...revious job must have be finished with JOB_DONE TRUE The deployment of the request interface takes place at the following sequence Edit the following input parameters Name Data type Address DB Default Comment JOB_REQ BOOL 4 3 FALSE Initiates the job edges 0 1 JOB_ID WORD 6 0 0 Job ID 00h Job without function 04h Writes the integration time 84h Read the integration time JOB_VAL DINT 8 0 0 Value for...

Page 767: ...vate In the user program by resetting SW_GATE of SFB 48 14 2 19 SFB 49 PULSE Pulse width modulation The SFB 49 is a specially developed block for compact CPUs for PWM and pulse train output With the SFB PULSE SFB 49 the following functionalities are available n PWM Pulswidthmodulation Start Stop via software gate SW_EN Enabling controlling of the PWM output Read status bits Request to read write t...

Page 768: ...ays the internal I O periphery is addressed CHANNEL INPUT INT 2 0 0 Channel number SW_EN INPUT BOOL 4 0 FALSE Enable software gate MAN_DO INPUT BOOL 4 1 FALSE This parameter is not evaluated SET_DO INPUT BOOL 4 2 FALSE This parameter is not evaluated OUTP_VAL INPUT INT 6 0 0 Output value Ä OUTP_VAL page 769 JOB_REQ INPUT BOOL 8 0 FALSE Job trigger edge 0 1 JOB_ID INPUT WORD 10 0 0 Job number Ä JOB...

Page 769: ...pendence of the time base 1ms 0 Period duration 2 0 1ms 0 Period duration 2 10µs 0 Period duration 2 1µs 5 Period duration 2 n 08h Write number of pulses for the 1 pulse train job Range of values 0 8 388 607 n 09h Write number of pulses for the 2 pulse train job Range of values 0 8 388 607 n 0Ah Period duration for writing 2 pulse train job n 0Bh Write time base 00h 0 1ms 01h 1ms 02h 1µs 03h 10µs ...

Page 770: ...and STS_EN n Changes of the period duration and the minimum pulse duration will immediately take effect n Changes of the on delay take effect with the next edge 0 1 of SW_EN n A running PWM output is not affected by setting pulse train specific values such as pulse number and period duration for the 2 pulse train job The request interface is used according to the following sequence 1 Call the SFB ...

Page 771: ...ters and JOB_REQ FALSE 7 Call the SFB 49 n SW_EN TRUE edge 0 1 n JOB_REQ TRUE edge 0 1 n OUTP_VAL Specify a duty factor ð n The PWM output is started n STS_EN goes to TRUE and remains in this state until SFB 49 is called with SW_EN FALSE n On error JOB_ERR TRUE and the cause of the error is returned in JOB_STAT 8 Call the SFB 49 cyclically n SW_EN FALSE n Via STS_EN you get the current status of t...

Page 772: ...ters and JOB_REQ FALSE 5 Optional for the 2 pulse train job Call the SFB 49 n SW_EN FALSE n JOB_VAL Enter a value for the number of pulses here n JOB_ID 09h Write number of pulses for the 2 pulse train job n JOB_REQ TRUE edge 0 1 ð n The number of pulses for the 2 pulse train job is transmitted n JOB_DONE is FALSE during the SFB run n On error JOB_ERR TRUE and the cause of the error is returned in...

Page 773: ...s long as only one pulse train job is defined and currently being processed there is the possibility to attach a 2 pulse train job to the 1 pulse train job 1 Call the SFB 49 n SW_EN TRUE edge 0 1 n JOB_VAL Enter a value for the number of pulses here n JOB_ID 09h Write number of pulses for the 2 pulse train job n JOB_REQ TRUE edge 0 1 ð n From JOB_VAL the number of pulses for the 2 pulse train job ...

Page 774: ... the event of an error Value Description 0000h no error 0411h Period duration too small 0412h Period duration too big 0421h On delay too small 0422h On delay too big 0431h Minimum pulse duration too small 0432h Minimum pulse duration too big 0441h Number of pulses too small 0442h Number of pulses too big 0451h Invalid time base 0461h Pulse train job could not be attached 04FFh Job number not valid...

Page 775: ...ter STATUS Here the STATUS bytes 2 and 3 correspond with the output parameter RET_VAL of the asynchro nously operating SFCs see also meaning of REQ RET_VAL and BUSY with Asynchro nously Operating SFCs Record set transmission is completed when the output param eter BUSY FALSE Parameter Declaration Data type Memory block Description REQ INPUT BOOL I Q M D L constant REQ 1 Transfer record set ID INPU...

Page 776: ...utput parameter STATUS Here the STATUS bytes 2 and 3 correspond with the output parameter RET_VAL of the asynchro nously operating SFCs see also meaning of REQ RET_VAL and BUSY with Asynchro nously Operating SFCs Please note that you must assign the same value to the actual parameter of RECORD for all SFB 53 calls that belong to one and the same job The same applies to the LEN parameters Record se...

Page 777: ...arameters The information contained in the input parameters con tains the start information of the called OB as well as information from the interrupt source Call the SFB 54 only within the interrupt OB started by the CPU operating system as a result of the peripheral interrupt that is to be examined If you call SFB 54 RALRM in an OB for which the start event was not trig gered by peripherals the ...

Page 778: ... address 1 for an output address LEN OUTPUT INT I Q M D L Length of the received interrupt information TINFO IN_OUT ANY I Q M D L task information Target range OB start and management information AINFO IN_OUT ANY I Q M D L interrupt information Target area for header information and additional information For AINFO you should provide a length of at least MLEN bytes You can call the SFB 54 in three...

Page 779: ...NFO or AINFO that is too short the SFC 54 cannot enter the full information VIPA SPEED7 Integrated Standard System Function Blocks SFB 54 RALRM Receiving an interrupt from a periphery module HB00 OPL_SP7 Operation list en 18 30 779 ...

Page 780: ...pe 0000 DP ab 0001 reserved 23 Byte centralized 0 decentral ized Bit 3 0 Interrupt info type 0000 Transparent Interrupt originates from a configured decentralized module 0001 Representative Interrupt originating from a non DP V1 slave or a slot that is not configured 0010 Generated interrupt gen erated in the CPU as of 0011 reserved Bit 7 4 Structure version 0000 Initial as of 0001 reserved 24 Byt...

Page 781: ...erved 23 Alarminfo BYTE Bit 0 3 0000 Transparent which is always the case for PROFINET IO interrupt originates from a configured distributed module Bit 4 7 reserved 24 PROFINET IO controller inter face BYTE Flags of the PROFINET IO controller interface module Bit 0 0 Interrupt originating from an integrated interface Bit 0 1 Interrupt originating from an external interface Bit 1 7 reserved 25 Flag...

Page 782: ...Bit 0 3 1000 0b1111 EtherCAT1 Bit 4 7 reserved 23 Alarminfo BYTE Bit 0 3 0000 Transparent interrupt originates from a configured distributed module Bit 4 7 reserved 24 EC Flags I BYTE Flags of the EtherCAT IO controller interface Bit 0 0 Interrupt originating from an integrated interface 1 Interrupt originating from an external interface Bit 1 7 reserved 25 31 reserved 1 At 0b1001 PROFINET IO VIPA...

Page 783: ...em or DP station 32 126 manufacturer specific interrupt 2 Byte Slot number of the interrupt triggering component 3 Byte centralized reserved decentralized Identifier Bit 1 0 00 no further information 01 incoming event disrupted slot 10 going event slot not disrupted anymore 11 going event slot still disrupted Bit 2 Add_Ack Bit 7 3 Sequence number 4 223 Additional interrupt information module speci...

Page 784: ...7 Block type Bit 8 15 reserved 2 3 Block length WORD Length of the received interrupt information in byte MIN 0 MAX 1536 1 5kbyte 4 5 Version WORD Bits 0 7 low byte Bits 8 15 high byte VIPA SPEED7 Integrated Standard System Function Blocks SFB 54 RALRM Receiving an interrupt from a periphery module HB00 OPL_SP7 Operation list en 18 30 784 ...

Page 785: ...5 reserved without the following VIPA specific inter rupt types 38CAh Recovery of the controller 48CAh Configuration of the controller accepted 39CAh Controller failure 49CAh Failure of the controller due to the watchdog 38CBh Recovery of the device 38CCh Failure of the recovery of the device 38CDh Another device is detected during the recovery of the device 38CEh Parameter error during the recove...

Page 786: ...nufacturer specific status information available Bit 13 Status of diagnostics for interface module 0 No status information available all errors corrected 1 Diagnostics for at least one channel and or status information available Bit 14 reserved Bit 15 Application Relationship Diagnosis State 0 None of the configured modules within this AR is reporting a diagnosis 1 At least one of the configured m...

Page 787: ...NGED 8003h TOPOLOGY_OK 8004h TOPOLOGY_MISMATCH 4 5 RackSlot WORD Slot number of the EtherCAT master 6 7 Master Slave ID WORD EtherCAT master slave address 8 9 InterruptSpecifier WORD Value depends on the interrupt type InterruptType Value BUS_STATE_CHANGED new bus status 1 DIAGNOSTICS_INTERRUPT_GOING reserved DIAGNOSTICS_INTERRUPT_COMMING reserved HARDWARE_INTERRUPT reserved MANUFACTOR_SPECIFIC_AL...

Page 788: ...before he could carry out its initialization routines For the VIPA EtherCAT master a slave has the undefined state if there is a slave failure disconnect Init 0x01 There is no direct communication between master and slaves In this state the master initializes the configuration register of the ESC There is no process data or mailbox communication PreOp 0x02 In this state mailbox communication is po...

Page 789: ... Name Data type Description Error Code WORD Error Code Error Register BYTE EtherCAT state on the error of the salve Data BYTE 5 Manufacturer Specific Error Field MEF contains additional diagnostics data 14 2 22 5 AL Status Code AL is the abbreviation for Application Layer The AL status code is an error code of the slave application 14 2 22 6 Data structure BUS_STATE_CHANGED Header NrOfSlavesTotal ...

Page 790: ...mation Hardware interrupt 4x Yes Yes Yes centralized No decentralized as delivered by the DP slave Status interrupt 55 Yes Yes Yes Yes Update interrupt 56 Yes Yes Yes Yes Manufacturer spe cific interrupt 57 Yes Yes Yes Yes Peripheral redundancy error 70 Yes Yes No No Diagnostic interrupt 82 Yes Yes Yes centralized Record set 1 decentralized as delivered by the DP slave Removal Insertion interrupt ...

Page 791: ...ECORD STATUS 2 Location of the error ID can have the following values Error_Decode Source Description 00 7Fh CPU No error no warning 80h DP V1 Error according to IEC 61158 6 81h 8Fh CPU 8xh shows an error in the nth call parameter of the SFB FEh FFh DP Profile Profile specific error STATUS 3 Error ID can have the following values Error_Decode Error_Code_1 Explanation according to DP V1 Description...

Page 792: ...own in module illegal record set number 256 B1h write length error Wrong length specified in parameter RECORD with SFB 54 length error in AINFO B2h invalid slot Configured slot not occupied B3h type conflict Actual module type not equal to specified module type B4h invalid area DP slave or module reports access to an invalid area B5h state conflict DP slave or module not ready B6h access denied DP...

Page 793: ...ue to restart of DP mas ters C8h CFh DP slave or module reports a manufac turer specific resource error Please check the documentation from the manu facturer of the DP slave or module Dxh user specific DP slave specific 81h 00h FFh Error in the initial call parameter with SFB 54 MODE 00h Illegal operating mode 82h 00h FFh Error in the 2 call parameter 88h 00h FFh Error in the 8 call parameter with...

Page 794: ...e 3Ah DB DI no is zero for area ID DB DI or specified DB DI does not exist 8Ah 00h FFh Error in the 10 call parameter 8Fh 00h FFh Error in the 15 call parameter FEh FFh Profile specific error VIPA SPEED7 Integrated Standard System Function Blocks SFB 54 RALRM Receiving an interrupt from a periphery module HB00 OPL_SP7 Operation list en 18 30 794 ...

Page 795: ...pass filter A lead operation is equivalent to a differ entiation and is thus a high pass filter LEAD_LAG combined can cause the output phase to lag input at low frequency and to lead input at high frequency and can thus be used as a band pass filter Parameters Parameter Declaration Data Type Memory Area Description EN Input BOOL I Q M D L Enable input with signal state of 1 activates the box ENO O...

Page 796: ...utput bit patterns Parameters Digit g f e d c b a Display 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 1 0 0 1 0 1 1 0 1 1 2 0 0 1 1 0 1 0 0 1 1 1 1 3 0 1 0 0 0 1 1 0 0 1 1 0 4 0 1 0 1 0 1 1 0 1 1 0 1 5 0 1 1 0 0 1 1 1 1 1 0 1 6 0 1 1 1 0 0 0 0 0 1 1 1 7 1 0 0 0 0 1 1 1 1 1 1 1 8 1 0 0 1 0 1 1 0 0 1 1 1 9 1 0 1 0 0 1 1 1 0 1 1 1 A 1 0 1 1 0 1 1 1 1 1 0 0 b 1 1 0 0 0 0 1 1 1 0 0 1 C 1 1 ...

Page 797: ...hout error IN Input Pointer I Q M D L Points to the starting location of an ASCII string N Input INT I Q M L P Number of ASCII input characters to be con verted RET_VAL Output WORD I Q M D L P Returns a value of W 16 0000 if the instruction executes without error see Error Information for values other than W 16 0000 OUT Output Pointer Q M D L Points to the starting location of the table Double wor...

Page 798: ... IN and returns the result as the function s value If IN is either 0000 0001 or 0000 0000 a value of 0 is returned Parameters Parameter Declaration Data Type Memory Area Description EN Input BOOL I Q M D L Enable input with signal state of 1 activates the box ENO Output BOOL I Q M D L Enable output has a signal state of 1 if the function is executed without error IN Input DWORD I M D L P or consta...

Page 799: ...vates the box ENO Output BOOL I Q M D L Enable output has a signal state of 1 if the function is executed without error IN Input DWORD I M D L P constant 7 digit BCD number RET_VAL Output DWORD Q M D L P Value returned This function does not detect any error conditions 15 1 8 FC 99 BITSUM Sum Number of Bits The Sum Number of Bits BITSUM function counts the number of bits that are set to a value of...

Page 800: ...by programming LO_LIM HI_LIM With reverse scaling the value of the output decreases as the value of the input increases Parameters Parameter Declaration Data Type Memory Area Description EN INPUT BOOL I Q M D L n Enable TRUE activates the function FALSE deactivates the function ENO OUTPUT BOOL I Q M D L n Status TRUE function executed without error IN INPUT INT I Q M D L con stant The input value ...

Page 801: ...M and HI_LIM range the output OUT is clamped to the nearer of either the low limit or the high limit of the specified range for its type BIPOLAR or UNIPOLAR and an error is returned Parameters Parameter Declaration Data Type Memory Area Description EN Input BOOL I Q M D L n Enable TRUE activates the function FALSE deactivates the function ENO Output BOOL I Q M D L n Status TRUE function executed w...

Page 802: ...alue XE UGR INT I Q M L D constant Lower limit of the input value XE FEH BOOL I Q M L D Error bit BU BOOL I Q M L D Range excess n The BG parameter There is no address check The range is the whole P area This function is only used to convert the FB251 of an existing S5 program of an S5 CPU 941 to 944 to a function of an S7 program for the S7 400 programmable controller 15 1 12 FC 109 RLG_AA2 Write...

Page 803: ...Peripheries transfers either a peripheral area into a CPU internal area or vice versa depending on the parameter assignment In this way input bytes can be read from and output bytes written to the expanded I O If a data block is selected as an internal area the block must have been set up by the user with the necessary length prior to calling up the function Parameter Data Type Memory Area Descrip...

Page 804: ...itten to the expanded I O If a data block is selected as an internal area the block must have been set up by the user with the necessary length prior to calling up the function n The PBIB parameter defined in DB In S7 the I O area is assigned values as follows S5 S7 P area 0 to 255 P area 0 to 255 Q area 0 to 255 P area 256 to 511 IM3 area 0 to 255 P area 512 to 767 IM4 area 0 to 255 P area 768 to...

Page 805: ...o instant of time The function FC 1 adds a duration D time to an instant of time T date and time and provides a new instant of time date and time as the result The instant of time T must be in the range DT 1990 01 01 00 00 00 000 DT 2089 12 31 23 59 59 999 The function does not check the input parameters If the result of the addition is not within the valid range the result is limited to the corre...

Page 806: ...ormat TOD RET_VAL OUTPUT DATE_AND_TIME D L Return value in format DT You can assign only a symbolically defined variable for the parameter 15 2 5 FC 4 DELETE Delete in a STRING variable The function FC 4 deletes a number of characters L from the character at position P inclusive in a string The function does not report any errors n If L and or P are equal to zero or if P is greater than the curren...

Page 807: ...tion FC 6 extracts the data format DATE from the format DATE_AND_TIME DATE value is between the limits DATE 1990 1 1 and DATE 2089 12 31 The function does not report any errors Parameter Declaration Data type Memory area Description IN INPUT DATE_AND_TIME D L Input variable in format DT RET_VAL OUTPUT DATE I Q M D L Return value in format DATE You can assign only a symbolically defined variable fo...

Page 808: ...ignal state 1 if the time at parameter DT1 is the same as the time at parameter DT2 The function does not report any errors Parameter Declaration Data type Memory area Description DT1 INPUT DATE_AND_TIME D L Input variable in format TD DT2 INPUT DATE_AND_TIME D L Input variable in format TD RET_VAL OUTPUT BOOL I Q M D L Comparison result You can assign only a symbolically defined variable for the ...

Page 809: ...DT1 is greater younger than the time at parameter DT2 or if both instants of time are the same The function does not report any errors Parameter Declaration Data type Memory area Description DT1 INPUT DATE_AND_TIME D L Input variable in format TD DT2 INPUT DATE_AND_TIME D L Input variable in format TD RET_VAL OUTPUT BOOL I Q M D L Comparison result You can assign only a symbolically defined variab...

Page 810: ...for the parameter 15 2 16 FC 15 GT_STRNG Compare STRING for greater than The function FC 15 compares the contents of two variables in the data format STRING to find out if the first is greater than the other and outputs the result of the comparison as a return value The return value has the signal state 1 if the string at parameter S1 is greater than the string at parameter S2 The characters are c...

Page 811: ...lt bit is also set to 0 if the resulting string is longer than the variable given at the output parameter in this case the result string is limited to the maximum set length Parameter Declaration Data type Memory area Description IN1 INPUT STRING D L STRING variable to be inserted into IN2 INPUT STRING D L STRING variable to be inserted P INPUT INT I Q M D L Constant Insert position RET_VAL OUTPUT...

Page 812: ...er The function does not report any errors Parameter Declaration Data type Memory area Description S1 INPUT STRING D L Input variable in format STRING S2 INPUT STRING D L Input variable in format STRING RET_VAL OUTPUT BOOL I Q M D L Comparison result You can assign only a symbolically defined variable for the parameter 15 2 21 FC 20 LEFT Left part of a STRING variable The function FC 20 provides t...

Page 813: ...es with parameters assigned must be of the same data type n The variable type is recognized by the ANY pointer n MN may not be greater as MX n The output value remains unchanged and the BR bit is set to 0 if a variable with parameters assigned has an invalid data type all variables with parameters assigned do not have the same data type the lower limit value is greater than the upper limit value a...

Page 814: ...n Data type Memory area Description S1 INPUT STRING D L Input variable in format STRING S2 INPUT STRING D L Input variable in format STRING RET_VAL OUTPUT BOOL I Q M D L Comparison result You can assign only a symbolically defined variable for the parameter 15 2 26 FC 25 MAX Select maximum The function FC 25 selects the largest of three numerical variable values n Variables of the data types INT D...

Page 815: ...put variable in format STRING L INPUT INT I Q M D L Constant Length of the middle character string P INPUT INT I Q M D L Constant Position of first character RET_VAL OUTPUT STRING D L Output variable in format STRING You can assign only a symbolically defined variable for the parameter 15 2 28 FC 27 MIN Select minimum The function FC 27 selects the smallest of three numerical variable values n Var...

Page 816: ...ue has the signal state 1 if the time at parameter DT1 is unequal the time at parameter DT2 The function does not report any errors Parameter Declaration Data type Memory area Description DT1 INPUT DATE_AND_TIME D L Input variable in format TD DT2 INPUT DATE_AND_TIME D L Input variable in format TD RET_VAL OUTPUT BOOL I Q M D L Comparison result You can assign only a symbolically defined variable ...

Page 817: ...string You can assign only a symbolically defined variable for the parameter 15 2 32 FC 31 REPLACE Replace in a STRING variable The function FC 31 replaces a number of characters L of the first string IN1 starting at the character at position P inclusive with the entire second string IN2 n If L is equal to zero and P is not equal to zero the first string is returned n If L is equal to zero and P i...

Page 818: ...g is returned and the BR bit is set to 0 Parameter Declaration Data type Memory area Description IN INPUT STRING D L Input variable in format STRING L INPUT INT I Q M D L Constant Length of the right character string RET_VAL OUTPUT STRING D L Output variable in format STRING You can assign only a symbolically defined variable for the parameter 15 2 34 FC 33 S5TI_TIM Convert S5TIME to TIME The func...

Page 819: ... 12 31 23 59 59 999 The function does not run an input check If the result of the subtraction is not within the valid range the result is limited to the corresponding value and the binary result BR bit of the status word is set to 0 Parameter Declaration Data type Memory area Description T INPUT DATE_AND_TIME D L Time in format DT D INPUT TIME I Q M D L constant Duration in format TIME RET_VAL OUT...

Page 820: ...n S INPUT STRING D L Input string RET_VAL OUTPUT DINT I Q M D L Result You can assign only a symbolically defined variable for the parameter 15 2 39 FC 38 STRNG_I Convert STRING to INT The function FC 38 converts a string to a variable in INT data format n The first character in the string may be a sign or a number the characters which then follow must be numbers n If the length of the string is e...

Page 821: ...ter is greater than the displayable S5TIME format TIME 02 46 30 000 S5TIME 999 3 is output as result and the binary result BR bit is set to 0 Parameter Declaration Data type Memory area Description IN INPUT TIME I Q M D L Constant Input variable in format TIME RET_VAL OUTPUT S5TIME I Q M D L Return value in format S5TIME 15 3 IO 15 3 1 FB 20 GETIO PROFIBUS PROFINET read all Inputs With the FB 20 G...

Page 822: ...you configured with for the selected component In the case of a DP standard slave with a modular structure or with several DP IDs you can only access the data for one component DP ID with an FB 20 call each time at the configured start address Parameter Declaration Data Type Memory Area Description ID INPUT DWORD I Q M D L constant n Low word logical address of the DP slave PROFINET IO component n...

Page 823: ... transferred ERROR receives the value FALSE If the target area is greater than LEN then the first LEN bytes in the target area are written ERROR receives the value FALSE The FB 22 GETIO_PART does not check the process image for inputs for delimiters between data belonging to different PROFIBUS DP or PROFINET IO components Because of this you yourself must make sure that the process image area spec...

Page 824: ...add the associated PROFIBUS DP slave or the associated PROFINET IO device to this process image partition for out puts before calling FB 23 You use the OFFSET and LEN parameters to specify the portion of the process image area to be written for the compo nents addressed by means of their ID If there was no error during the data transmission ERROR receives the value FALSE If there was an error duri...

Page 825: ...OUTPUTS con tains are transferred ERROR receives the value FALSE n If the source area is greater than LEN then the first LEN bytes are transferred from OUTPUTS ERROR receives the value FALSE Please refer to SFC 81 UBLKMOV Copy data area without gaps Ä 720 15 4 S5 Converting 15 4 1 FC 112 Sine x Sine The function FC 112 expects the input value in ACCU 1 as a floating point number 1 The input value ...

Page 826: ...0e 00 2 x p REAL 0 6283185e 01 2 The function also stores the result in ACCU 1 as a floating point number 3 The input value DWORD DW 16 0000 0000 is treated the same way as the floating point value zero REAL 0 0000000e 00 in accordance with DWORD DW 16 8000 0000 ð If the calculation is carried out correctly the RLO ENO is FALSE after the func tion has been called up Parameters Parameter Declaratio...

Page 827: ...ction ENO OUTPUT BOOL I Q M D L n Status TRUE function executed with error In the event of an error the function sets the RLO to signal state ENO to TRUE In this case the contents of accumulator 1 remain unchanged One of the following errors has occurred n The input value is out of range from 0 2 x p n A number range overflow occurred during calculation of the function n The input value amounts to...

Page 828: ...nge overflow occurred during calculation of the function n The input value amounts to zero or p or 2 x p In this case the function value is infinite The assignment of the remaining registers and the auxiliary flags are not changed This function is only used to convert the FB 103 of an existing S5 pro gram to a function of an S7 program programmable controller 15 4 5 FC 116 Arc Sine x Arcussine The...

Page 829: ...n ACCU 1 as a floating point number 3 The input value DWORD DW 16 0000 0000 is treated the same way as the floating point value zero REAL 0 0000000e 00 in accordance with DWORD DW 16 8000 0000 ð If the calculation is carried out correctly the RLO ENO is FALSE after the func tion has been called up Parameters Parameter Declaration Data Type Memory Area Description EN INPUT BOOL I Q M D L n Enable T...

Page 830: ...he input value is out of range of 1 1 the function sets the RLO signal state ENO to TRUE The assignment of the remaining registers and the auxil iary flags are not changed This function is only used to convert the FB107 of an existing S5 program to a function of an S7 program programmable controller 15 4 8 FC 119 Arc Cotangent x Arcuscotangent The function FC 119 expects the input value in ACCU 1 ...

Page 831: ...00000e 01 2 The function also stores the result in accumulator 1 as a floating point number 3 If the calculation is carried out correctly the RLO is FALSE after the function has been called up Parameters Parameter Declaration Data Type Memory Area Description EN INPUT BOOL I Q M D L n Enable TRUE activates the function FALSE deactivates the function ENO OUTPUT BOOL I Q M D L n Status TRUE function...

Page 832: ...iliary flags are not changed This function is only used to convert the FB 110 of an existing S5 pro gram to a function of an S7 program programmable controller 15 4 11 FC 122 Gen Logarithm to Base b General Logarithm Iog x to base b The function FC 122 expects both the input value for the base b in ACCU 2 and the input value for the antilogarithm x in ACCU 1 as floating point numbers 1 Both input ...

Page 833: ...WORD DW 16 8000 0000 2 The function also stores the result in ACCU 1 as a floating point number 3 If the calculation is carried out correctly the RLO ENO is FALSE after the function has been called up Parameters Parameter Declaration Data Type Memory Area Description EN INPUT BOOL I Q M D L n Enable TRUE activates the function FALSE deactivates the function ENO OUTPUT BOOL I Q M D L n Status TRUE ...

Page 834: ... the RLO ENO to signal state TRUE In this case the contents of ACCU 1 remain unchanged The assignment of the auxiliary flags is not changed This function is only used to convert the FB 113 of an existing S5 pro gram to a function of an S7 program programmable controller 15 4 14 FC 125 ACCU 2 to Power ACCU 1 ACCU 2 high ACCU 1 The function FC 125 expects both the input value for the base in ACCU 2 ...

Page 835: ...gnment you can activate or deactivate subfunctions of the PID controller to adapt the controller to the process Parameters Parameter Declaration Data Type Description COM_RST INPUT BOOL COMPLETE RESTART n The block has a complete restart routine that is pro cessed when the input COM_RST is set n Default FALSE MAN_ON INPUT BOOL MANUAL VALUE ON n If the input MAN_ON is set the control loop is inter ...

Page 836: ... n The time between the block calls must be constant The CYCLE input specifies the time between block calls n Default T 1s n Range of Values 1ms SP_INT INPUT REAL INTERNAL SETPOINT n The SP_INT input is used to specify a setpoint n Default 0 0 n Range of Values 100 0 100 0 or phys value1 PV_IN INPUT REAL PROCESS VARIABLE IN n An initialization value can be set at the PV_IN input or an external pro...

Page 837: ...band is applied to the error The DEADB_W input determines the size of the dead band n Default 0 0 n Range of Values 0 0 or phys value1 LMN_HLM INPUT REAL MANIPULATED VALUE HIGH LIMIT n The manipulated value is always limited by an upper and lower limit The LMN_HLM input speci fies the upper limit n Default 100 0 n Range of Values LMN_LLM 100 0 or phys value2 LMN_LLM INPUT REAL MANIPULATED VALUE LO...

Page 838: ...AL DISTURBANCE VARIABLE n For feed forward control the disturbance variable is connected to input DISV n Default 0 0 n Range of Values 100 0 100 0 or phys value2 LMN OUTPUT REAL MANIPULATED VALUE n The effective manipulated value is output in floating point format at the LMN output n Default 0 0 LMN_PER OUTPUT WORD MANIPULATED VALUE PERIPHERY n The manipulated value in the I O format is con nected...

Page 839: ... controller The functions of the controller are based on the PID control algorithm of the sampling controller with an analog signal if necessary extended by including a pulse generator stage to generate pulse duration modulated output signals for two or three step controllers with proportional actuators Apart from the functions in the setpoint and process value branches the FB implements a complet...

Page 840: ...ated value can be limited to a selected value using the LMNLIMIT function Signaling bits indicate when a limit is exceeded by the input variable The LMN_NORM function normalizes the output of LMNLIMIT according to the following formula LMN_FAC has the default 1 and LMN_OFF the default 0 The manipulated value is also available in the peripheral format The CRP_OUT function converts the floating poin...

Page 841: ... value output signals for integrating actuators During parameter assignment you can activate or deactivate subfunctions of the PI step controller to adapt the controller to the process Block Diagram Description VIPA SPEED7 Standard PID Control FB 42 CONT_S Step Control HB00 OPL_SP7 Operation list en 18 30 841 ...

Page 842: ...NS_ON input n Default FALSE LMNUP INPUT BOOL MANIPULATED SIGNALS UP n With manual actuating value signals the output signal QLMNUP is set at the input LMNUP n Default FALSE LMNDN INPUT BOOL MANIPULATED SIGNALS DOWN n With manual actuating value signals the output signal QLMNDN is set at the input LMNDN n Default FALSE PVPER_ON INPUT BOOL PROCESS VARIABLE PERIPHERY ON n If the process variable is r...

Page 843: ... BAND WIDTH n A dead band is applied to the error The DEADB_W input determines the size of the dead band n Default 1 0 n Range of Values 0 0 100 0 or phys value1 PV_FAC INPUT REAL PROCESS VARIABLE FACTOR n The PV_FAC input is multiplied by the process vari able The input is used to adapt the process vari able range n Default 1 0 PV_OFF INPUT REAL PROCESS VARIABLE OFFSET n The PV_OFF input is added...

Page 844: ...ameters in the manipulated value branch with the same unit You can use the controller as a PI fixed setpoint controller or in secondary control loops in cascade blending or ratio controllers however not as the primary controller The func tions of the controller are based on the PI control algorithm of the sampling controller sup plemented by the functions for generating the binary output signal fr...

Page 845: ...ne integrator INT and com pared with the remaining P action as a feedback value The difference is applied to a three step element THREE_ST and a pulse generator PULSEOUT that creates the pulses for the actuator The switching frequency of the controller can be reduced by adapting the threshold on of the three step element A disturbance variable can be fed forward at the DISV input Complete Restart ...

Page 846: ...onal actuators Using FB43 PID two or three step controllers with pulse duration modulation can be configured The function is normally used in conjunction with the continuous con troller CONT_C Block Diagram Description VIPA SPEED7 Standard PID Control FB 43 PULSGEN Pulse generation HB00 OPL_SP7 Operation list en 18 30 846 ...

Page 847: ...FAC can be used to change the ratio of the duration of negative to posi tive pulses In a thermal process this would for example allow different time constants for heating and cooling to be compensated for example in a process with electrical heating and water cooling n Default 1 0 n Range of Values 0 1 10 0 STEP3_ON INPUT BOOL THREE STEP CONTROL ON n The STEP3_ON input parameter activates this mod...

Page 848: ... Default TRUE COM_RST INPUT BOOL COMPLETE RESTART n The block has a complete restart routine that is pro cessed when the COM_RST input is set n Default FALSE CYCLE INPUT TIME SAMPLE TIME n The time between block calls must be constant The CYCLE input specifies the time between block calls n Default T 10ms n Range of Values 1ms QPOS_P OUTPUT BOOL OUTPUT POSITIVE PULSE n The output parameter QPOS_P ...

Page 849: ...able of 30 and 10 FB PULSEGEN calls per PER_TM means the following n 1 at the QPOS output for the first three calls of FB PULSEGEN 30 of 10 calls n 0 at the QPOS output for seven further calls of FB PULSEGEN 70 of 10 calls With a sampling ratio of 1 10 CONT_C calls to PULSEGEN calls the accuracy of the manipulated value in this example is restricted to 10 in other words set input values INV can on...

Page 850: ...f the period using the following procedure n If INV changes and if the block call is not in the first or last two call cycles of a period the synchronization is performed The pulse duration is recalculated and in the next cycle is output with a new period The automatic synchronization can be disabled at the SYN_ON input FALSE With the beginning of a new period the old value of INV in other words o...

Page 851: ... curve is defined by the minimum pulse or minimum break time and the ratio factor The normal value for the ratio factor is 1 The doglegs in the curves are caused by the minimum pulse or minimum break times n Minimum Pulse or Minimum Break Time A correctly assigned minimum pulse or minimum break time P_B_TM can prevent short on off times that reduce the working life of switching elements and actuat...

Page 852: ...s the minimum pulse or minimum break time A ratio factor 1 means that the threshold value for negative pulses is multiplied by the ratio factor n Ratio Factor 1 The pulse duration at the negative pulse output calculated from the input variable multiplied by the period time is reduced by the ratio factor Three Step Control Asym metrical VIPA SPEED7 Standard PID Control FB 43 PULSGEN Pulse generatio...

Page 853: ...e Range 100 to 100 n Two Step Control with Monopolar Manipulated Variable Range 0 to 100 The negated output signal is available at QNEG_P if the connection of the two step con troller in the control loop requires a logically inverted binary signal for the actuating pulses Pulse Actuator On Off QPOS_P TRUE FALSE QNEG_P FALSE TRUE In the manual mode MAN_ON TRUE the binary outputs of the three step o...

Page 854: ...value can be set at the PV_IN input or an external process variable in floating point format can be connected n Default 0 0 n Dependent on the sensors used PV_PER INPUT WORD PROCESS VARIABLE PERIPHERY n The process variable in the peripheral I O format is connected to the controller at the PV_PER input n Default 0 DISV INPUT REAL DISTURBANCE VARIABLE n For feed forward control the disturbance vari...

Page 855: ...lled in a slow cyclic interrupt level only the PID algorithm is processed n Default 0 n Range of Values 0 3 PV OUTPUT REAL PROCESS VARIABLE n The effective process variable is output at the PV output n Default 0 0 n Range of Values Dependent on the sensors used LMN OUTPUT REAL MANIPULATED VALUE n The effective value of the manipulated variable is output in floating point format at the LMN output n...

Page 856: ...SE GENERATOR s n At this input you enter the sampling time for the pulse generator stage FB 58 TCONT_CP calcu lates the sampling time in Phase 1 and enters it in CYCLE_P n Default 0 2s n Range of Values 1ms SP_INT INPUT OUTPUT REAL INTERNAL SETPOINT n The SP_INT input is used to specify a setpoint n Default 0 0 n Range of Values Value range of the process value MAN INPUT OUTPUT REAL MANUAL VALUE n...

Page 857: ...L MANIPULATED VARIABLE LOW LIMIT n The value of the manipulated variable is always limited to an upper and lower limit The LMN_LLM input specifies the lower limit n Default 0 0 n Range of Values LMN_HLM PV_FAC INPUT REAL PROCESS VARIABLE FACTOR n The PV_FAC input is multiplied by the PV_PER The input is used to adapt the process variable range n Default 1 0 PV_OFFS INPUT REAL PROCESS VARIABLE OFFS...

Page 858: ...IPHERY MODE n You can enter the type of the I O module at this switch The process variable at input PV_PER is then normalized to C at the PV output PER_MODE 0 standard PER_MODE 1 climate PER_MODE 2 current voltage n Default 0 n Range of Values 0 1 2 PVPER_ON INPUT BOOL PROCESS VARIABLE PERIPHERY ON n If you want the process variable to be read in from the I O the PV_PER input must be connected to ...

Page 859: ... Values 0 1 2 3 4 5 7 STATUS_H OUTPUT INT STATUS HEATING OF SELF TUNING n STATUS_H indicates the diagnostic value of the search for the point of inflection when heating n Default 0 STATUS_D OUTPUT INT STATUS CONTROLLER DESIGN OF SELF TUNING n STATUS_D indicated the diagnostic value of the controller design when heating n Default 0 QTUN_RUN OUTPUT BOOL TUNING IS ACTIVE PHASE 2 n The tuning manipula...

Page 860: ... TIME s n Default 40 0 s n Range of Values 0 0 s TD INPUT OUTPUT REAL DERIVATIVE TIME s n Default 10 0 s n Range of Values 0 0 s D_F OUTPUT REAL DERIVATIVE FACTOR n Default 5 0 n Range of Values 5 0 10 0 CON_ZONE OUTPUT REAL CONTROL ZONE ON n Default 100 0 n Range of Values 0 0 CONZ_ON OUTPUT REAL CONTROL ZONE n Default FALSE PFAC_SP INPUT OUTPUT REAL PROPORTIONAL FACTOR FOR SETPOINT CHANGES n PFA...

Page 861: ...an the control zone width CON_ZONE the upper manipulated variable limit is output as the manipulated variable n If the error is less than the negative control zone width the lower manipulated variable limit is output as the manipulated variable n Default 100 0 n Dependent on the sensors used CONZ_ON INPUT OUTPUT BOOL CONTROL ZONE n CONZ_ON TRUE activates the control zone n Default FALSE TUN_ON INP...

Page 862: ...ID controller PID controller PID_ON TRUE PI controller PID_ON FALSE n It is nevertheless possible that with certain process types only a PI controller will be designed despite PID_ON TRUE n Default TRUE GAIN_P OUTPUT REAL PROZESS PROPORTIONAL GAIN n Identified process gain For the process type I GAIN_P tends to be estimated too low n Default 0 0 TU OUTPUT REAL DELAY TIME s n Identified delay of th...

Page 863: ...n Default 0 0 n Range of Values Value range of the process value PVDT0 OUTPUT REAL RATE OF CHANGE OF PV AT BEGIN OF TUNING 1 s n Sign adapted n Default 0 0 PVDT OUTPUT REAL CURRENT RATE OF CHANGE OF PV 1 s n Sign adapted n Default 0 0 PVDT_MAX OUTPUT REAL MAX RATE OF CHANGE OF PV PER SECOND 1 s n Maximum rate of change of the process variable at the point of inflection at the sign adapted always 0...

Page 864: ...the cooling effort is increased n Apart from the functions in the setpoint and process value branches the FB imple ments a complete PID temperature controller with a continuous and binary manipu lated variable output To improve the control response with temperature processes the block includes a control zone and reduction of the P action if there is a setpoint step change The block can set the PI ...

Page 865: ...mperature unit and must now convert the measured voltage current value to a temperature Calculation of the parameters n PV_FAC range of PV_NORM range of CRP_IN n PV_OFFS LL PV_NORM PV_FAC LL CRP_IN where LL is the lower limit With the default values PV_FAC 1 0 and PV_OFFS 0 0 normalization is disabled The effective process value is output at the PV output With pulse control the process value must ...

Page 866: ...ion for example in pulse duration modulation with PULSEGEN a deadband DEADBAND is applied to the error If DEADB_W 0 0 the deadband is deactivated The effective error is indicated by the ER parameter The schematic below is the block diagram of the PID algorithm Forming the Error Deadband DEADB_W PID Algorithm VIPA SPEED7 Standard PID Control FB 58 TCONT_CP Continuous Temperature Control HB00 OPL_SP...

Page 867: ...ative GAIN cooling controller n If you set TI and TD to 0 0 you obtain a pure P controller at the operating point LMN_Sum t manipulated variable in automatic mode of the controller ER 0 step change of the normalized error GAIN controller gain TI integral time TD derivative time D_F derivative factor In the manual mode it is corrected as follows LMN_I LMN LMN_P DISV PID Algorithm GAIN TI TD D_F Int...

Page 868: ... the user interface deactivate the I action TI 0 0 and possible also the D action TD 0 0 Then make the following parameter settings n I_ITL_ON TRUE n I_ITLVAL operating point A feedforward variable can be added at the DISV input The schematic below is the block diagram of the manipulated variable calculation If CONZ_ON TRUE the controller operates with a control zone This means that the controller...

Page 869: ...uired for the new operating point You can switch over between manual and automatic operation In the manual mode the manipulated variable is corrected to a manual value The integral action INT is set inter nally to LMN LMN_P DISV and the derivative action DIF is set to 0 and synchronized internally Switching over to automatic mode is therefore bumpless During tuning the MAN_ON parameter has no effe...

Page 870: ...LMN The schematic below shows the block diagram If the current parameter settings are usable you can save them in a special structure in the instance DB of FB 58 TCONT_CP prior to making a manual change If you tune the controller the saved parameters are overwritten by the values that were valid prior to tuning PFAC_SP GAIN TI TD D_F CONZ_ON and CON_ZONE are written to the PAR_SAVE structure The l...

Page 871: ...p controller can be activated or deactivated and the controller adapted to the process Parameters Parameter Declaration Data type Description CYCLE INPUT REAL SAMPLE TIME OF STEP CONTROLLER s n At this input CYCLE you enter the sampling time for the controller n Default 0 0 n Range of Values 0 001 SP_INT INPUT REAL INTERNAL SETPOINT n The SP_INT input is used to specify a setpoint n Default 0 0 n ...

Page 872: ...ut signal is applied to the LMNUP input n Default FALSE LMNDN INPUT BOOL MANIPULATED SIGNALS DOWN n With the controller output signals set to manual the QLMNDN output signal is applied to the LMNDN input n Default FALSE QLMNUP OUTPUT BOOL MANIPULATED SIGNAL UP n If the QLMNUP output is set the valve will be opened n Default FALSE QLMNDN OUTPUT BOOL MANIPULATED SIGNAL DOWN n If the QLMNDN output is...

Page 873: ...POINT CHANGES 0 1 n PFAC_SP specifies the effective P action when there is a setpoint change This is set between 0 and 1 1 P action has full effect if the setpoint changes 0 P action has no effect if the setpoint changes n Default 1 0 n Range of Values 0 0 1 0 GAIN INPUT REAL PROPORTIONAL GAIN n The GAIN input specifies the controller gain The direction of control can be reversed by giving GAIN a ...

Page 874: ...l n You can also use the controller in a cascade control as a secondary position con troller You specify the actuator position via the setpoint input SP_INT In this case you must set the process value input and the parameter TI integral time to zero An application might be for example temperature control with heating power control using pulse break activation and cooling control using a butterfly ...

Page 875: ...onverts the peripheral value PV_PER to a floating point format depending on the switch PER_MODE according to the following rules PER_MODE Output of CRP_IN Analog Input Type Unit 0 PV_PER 0 1 Thermoelements PT100 NI100 standard C F 1 PV_PER 0 01 PT100 NI100 climate C F 2 PV_PER 100 27648 Voltage current The PV_NORM function calculates the output of CRP_IN according to the following rule Output of P...

Page 876: ...led The effective process value is output at the PV output If you want to enter the setpoint as a percentage and you have a temperature range of 20 to 85 C applied to CRP_IN you must normalize the temperature range as a per centage The schematic below shows the adaptation of the temperature range from 20 85 C to an internal scale of 0 100 The difference between the setpoint and process value is th...

Page 877: ...fect if the setpoint changes A value for PFAC_SP 1 0 can reduce the overshoot as with the continuous controller if the motor run time MTR_TM is small compared with the recovery time TA and the ratio TU TA is 0 2 If MTR_TM reaches 20 of TA only a slight improvement can be ach ieved A load can be added at the DISV input With LMNS_ON you can change between manual and automatic mode In manual mode the...

Page 878: ... apply to your location in local time Calculation of base time local time and set alarm acc to local time Name Type Start value Comment B2L STRUCT Base time Local time S INT 2 Offset base time local time 30 min in winter permitted 24 24 T INT 3 Difference summer to winter time 30 min permitted 2 Block Diagram Description VIPA SPEED7 Standard Time Functions UDT 60 WS_RULES Rule DB HB00 OPL_SP7 Oper...

Page 879: ...2 second 9 last D BYTE B 16 1 Day of week Sunday 1 H BYTE B 16 3 Hour All the parameters that have the format BYTE are interpreted as BCD values The specification of the daylight saving standard time switchover points by a rule is mandatory in the EU as of 2002 15 6 2 FC 61 BT_LT Convert base timer to local time The FC 61 calculates the local time for the base time specified at the input Parameter...

Page 880: ...eter Deklaration Datentyp Beschreibung LT INPUT DATE_AND_TIME Local time WS_DAT INPUT BLOCK_DB Information on the time zone for standard daylight saving switchover Rule DB RET_VAL OUTPUT INT Error code LT OUTPUT DATE_AND_TIME Base time The local time entered at input LT is converted to the base time using the data stored in a DB and applied to output BT The DB contains the number of 30 minute unit...

Page 881: ...cuted error free 1 Base time No error but date jump 2 Base time The LT at the input is within the double hour 3 Base time As 2 also date jump 4 Base time The LT at the input is within the forbidden hour 5 Base time As 4 also date jump 8082 DT 90 01 01 0 0 0 Invalid data in the rule data block 15 6 4 FC 63 S_LTINT Set time interrupt in local time The FC sets the required time of day interrupt at th...

Page 882: ...r This however means that one hour run through twice For CE S T the designators 2A and 2B apply For an LT local time within this hour no unique identification relative to a base time is possible FC S_LTINT receives an LT as input parameter and must decide whether the time is standard or daylight saving before converting it to BT If the LT is within the double hour the LT is interpreted as standard...

Page 883: ... This SFC has been developed for test purposes and for building up pro prietary communication systems and is completely at the user s disposal Please regard that a write access to the page frame area influences a communication directly Parameters Name Declaration Type Description K_NR IN INT Page frame number OFFSET IN INT Page frame offset R_W IN INT Access SIZE IN INT Data width RET_VAL OUT BYTE...

Page 884: ...red to the page frame area Parameter type Pointer The following example shows the read access to 4byte starting with byte 712 in page frame 2 The read 4byte are stored in DB10 starting with byte 2 For this the following call is required CALL SFC 228 K_NR 2 OFFSET 712 R_W 0 SIZE 4 RET_VAL MB10 VALUE P DB10 DBX 2 0 Byte 4 Value Description 00h no error 01h 05h Internal error No valid address found f...

Page 885: ...s n counter areas All handling blocks described in the following use an identical interface to the user appli cation with these parameters SSNR Interface number ANR Order number ANZW Indicator word double word IND Indirect fixing of the relative start address of the data source res destina tion QANF ZANF Relative start address within the type PAFE Parameterization error BLGR Block size Interface n...

Page 886: ... the source res desti nation data and parameters of the indicator word are laying indirect Parameter type Integer Convenient entries 0 1 2 5 6 Please regard that at IND 5 res IND 6 the parameter ANZW is ignored Relative start address of the data source res destination and at IND 5 res IND 6 of the indicator word n This parameter of the type pointer Any Pointer allows you fix the relative starting ...

Page 887: ...er block parameters These are pointing to other parameter fields data blocks or data words The parameters SSNR ANR IND and BLGR are of the type integer so you may parameterize them indirectly CALL SFC 230 SSNR 0 ANR 3 IND 0 QANF P A 0 0 BYTE 16 PAFE MB79 ANZW MD44 CALL SFC 230 SSNR MW10 ANR MW12 IND MW14 QANF P DB10 DBX0 0 BYTE 16 PAFE MB80 ANZW MD48 Please note that you have to load the bit memor...

Page 888: ...ngth of the Source Destination data blocks in bytes 1 128 Indirect addressing means that QANF ZANF points to a memory area where the addresses of the source res destination areas and the indicator word are stored In this context you may either define one area for data source destination and indicator word IND 1 or each data source data destination and the indicator word get an area of their own IN...

Page 889: ...ord ANZW The source and destination parame ters and ANZW are stored in a DB in a sequential order QANF ZANF DW 0 Data type source Description data source destination DW 0 Data type source Description data source 2 DB Nr at type DB otherwise irrelevant 2 DB Nr at type DB otherwise irrelevant 4 Start address 4 Start address 6 Length in Byte 6 Length in Byte 8 Data type destina tion Description indi ...

Page 890: ...n Bit 2 Order ready without errors n Bit 3 Order ready with errors Data management handling block n Bit 4 Data receive send is running n Bit 5 Data transmission active n Bit 6 Data fetch active n Bit 7 Disable Enable data block 1 released 0 blocked 2 3 Length word handling block In the length word the handling blocks SEND RECEIVE store the data that has already been transferred i e received data i...

Page 891: ...on res source isn t declared neither at the handling block Q TYP NN nor at the coupler block 7 Reserved 8 no available transfer connections The capacity for transfer connections is at limit Delete unnecessary connections 9 Remote error There was an error at the communication partner during a READ WRITE order A Connection error The connection is not yet established The message disappears as soon as...

Page 892: ... in when the CP received the order Delete Per plug in when an order has been commissioned e g receipt received Analyze Per handling blocks A new order is only send when the order before is com pletely commissioned Per user when you want to know if triggering a new order is convenient n Bit 2 Order ready without errors Set Per plug in when the according order has been commissioned without errors De...

Page 893: ...e Per handling block SEND when the data transfer for a new order has been started new trigger Per user When analysis is ready flank creation Analyze Per user Here you may ascertain if the record set of an order has already been transferred to the CP res at which time a new record set concerning a running order e g cyclic transition may be started n Bit 6 Data fetch active Set Per RECEIVE when data...

Page 894: ...D FETCH and RECEIVE X A X A The error index A shows that the connection of the communication order is not yet established Together with the state index A SEND RECEIVE and FETCH are blocked X 0 X 8 The connection has been established again e g after a CP reboot the SEND order is released SEND communication order X 0 X 9 The connection has been established again the RECEIVE order is released RECEIVE...

Page 895: ...5 ready with error X No X 8 X No X 9 X No X 9 after RESET X D X A X D X A X D X 9 Messages at READ WRITE ACTIVE State at H1 Prio 0 1 Prio 2 Prio 3 4 State at TCP IP Prio 1 Prio 2 Prio 3 after reboot 0 A 0 A after connection start X 0 0 8 after initial impulse X 0 X 2 READ ready X 0 4 4 WRITE ready X 0 2 4 ready with error X No X 8 after RESET X D X A VIPA SPEED7 System Blocks Fetch Write Communica...

Page 896: ... Bit 3 Bit 1 reserved n Bit 7 Bit 4 error number 0 no error 1 wrong ORG Format 2 area not found DB not found 3 area too small 4 QVZ error 5 wrong indicator word 6 no Source Destination parameters at SEND RECEIVE ALL 7 interface not found 8 interface not specified 9 interface overflow A reserved B invalid order No C interface of CP doesn t quit or is negative D Parameter BLGR not allowed E reserved...

Page 897: ...b number IND IN INT Mode of addressing QANF IN ANY Pointer to data source PAFE OUT BYTE Parameterization error ANZW IN_OUT DWORD Indicator word If the CP is able to take over the data directly the SEND block transfers the requested data in one session If the CP requests only the order parameters or the amount of the depending data is too large the CP only gets the sending parameters res the parame...

Page 898: ...r word If the block runs in stand by only the indicator word is updated The RECEIVE block reacts different depending from the kind of supply and the CP reaction n If the CP transmits a set of parameters although the RECEIVE block itself got desti nation parameters the parameter set of the block has the priority above those of the CP n Large amounts of data can only be transmitted in blocks Therefo...

Page 899: ...of the indicator word takes place via FETCH res CON TROL The handshake for initializing FETCH is only started if n the FB RLO receives 1 n the function has been released in the according CP indicator word order active 0 Parameters Name Declaration Type Description SSNR IN INT Interface number ANR IN INT Job number IND IN INT Mode of addressing ZANF IN ANY Pointer to data destination PAFE OUT BYTE ...

Page 900: ...the cyclic part of the application Parameters Name Declaration Type Description SSNR IN INT Interface number ANR IN INT Job number PAFE OUT BYTE Parameterization error ANZW IN_OUT DWORD Indicator word If ANR 0 the indicator word is built up and handled equal to all other handling blocks If the parameter ANR gets 0 the CONTROL command transmits the content of the order state cell 0 to the LOW part ...

Page 901: ...the logical interface The block depends on the RLO and may be called from cyclic time or alarm controlled program parts Parameters Name Declaration Type Description SSNR IN INT Interface number ANR IN INT Job number PAFE OUT BYTE Parameterization error The block has two different operating modes n RESET ALL n RESET DIRECT Description Operating modes VIPA SPEED7 System Blocks Fetch Write Communicat...

Page 902: ...enient to split large data amounts into smaller blocks for transmitting them between CP and CPU You declare the size of these blocks by means of block size A large block size high data throughput but also longer run times and therefore a high cycle time strain A small block size smaller data throughput but also shorter run times of the blocks Following block sizes are available Value Block size Va...

Page 903: ...tor word of the block that is parameterized in the SEND_ALL block the cur rent order number is stored 0 means stand by The amount of the transmitted data for one order is shown in the data word of SEND_ALL which follows the indicator word In the following cases the SEND_ALL command has to be called for min imum one time per cycle of the block OB 1 if the CP is able to request data from the CPU ind...

Page 904: ...eterization error ANZW IN_OUT DWORD Indicator word In the indicator word of the block that is parameterized in the RECEIVE_ALL block the current order number is stored In the stand by running mode of RECEIVE_ALL the block indicator word is deleted In the following cases the RECEIVE_ALL command has to be called for minimum one time per cycle of the block OB 1 if the CP should send data to the CPU i...

Page 905: ...f the application Parameters Name Declaration Type Description SSNR IN INT Interface number ANR IN INT Job number IND IN INT Reserved PAFE OUT BYTE Parameterization error ANZW IN_OUT DWORD Indicator word If ANR 0 the indicator word is built up and handled equal to all other handling blocks If the parameter ANR gets 0 the CONTROL command transmits the content of the order state cell 0 to the LOW pa...

Page 906: ...frag mented n When opening an already existing file you have to use the same FILENAME and FILESIZE that you used at creation of this file n A MMC is structured into sectors Every sector has a size of 512byte Sector overlap ping writing or reading is not possible Access to sector overlapping data is only pos sible by using a write res read command for every sector By giving the offset you define th...

Page 907: ...n byte When accessing an already existing file it is mandatory to give not only the FILENAME but also the FILESIZE The entry of a Joker length is not supported at this time Structure Byte 0 Byte 1 Byte 2 Byte 3 Byte 255 Max length occupied length ASCII value 1 ASCII value 2 ASCII value 254 Word that returns a diagnostic error message 0 means OK Value Description Diagnostic messages 0000h No errors...

Page 908: ...o area for reading data OFFSET IN DWORD Offset of data within the file BUSY OUT BOOL Job state RET_VAL OUT WORD Return value 0 OK This variable of the type pointer points to a data area in the CPU where the content of the MMC has to be written to Here you define the start address inside the file on the MMC from where on the data has to be transferred to the CPU During data transfer this bit remain...

Page 909: ...inter points to a data area from where on the data starts that will be written to the MMC This defines the beginning of the data inside the file on the MMC where the data is written to During data transfer this Bit remains set The Bit is reset as soon as the data transfer is complete Word that returns a diagnostic error message 0 means OK Value Description 0000h No errors 8001h No or unknown type ...

Page 910: ... function n REQ 0 returns the current state of a function via RETVAL n BUSY 1 monitors that the according function is in process After the execution of a function RETVAL returns a number code RETVAL 0 Function has been executed without errors 0 RETVAL 7000h RETVAL Length of the transferred data only FC SFC 211 and FC SFC 212 7000h RETVAL 8000h Monitors the execution state of the function RETVAL 80...

Page 911: ...laration Data type Description REQ IN BOOL Activate function MEDIA IN INT 0 MMC FILENAME IN STRING 254 Name of file must be in 8 3 format ATTRIBCLEANMASK IN BYTE Bit pattern of attributes to clean ATTRIBSETMASK IN BYTE Bit pattern of attributes to set RETVAL OUT WORD Return value 00xxh OK with xx attributes BUSY OUT BOOL Function is busy Return codes of RETVAL Code Description 00xxh OK attributes ...

Page 912: ...REQ 1 initializes the function After the opening the read write flag is at 0 Parameters Parameter Declaration Data type Description REQ IN BOOL Activate function MEDIA IN INT 0 MMC FILENAME IN STRING 254 Name of file must be in 8 3 format HANDLE IN INT Index of file 0 3 RETVAL OUT WORD Return value 0 OK BUSY OUT BOOL Function is busy Codes that are returned by RETVAL Code Description 0000h OK 7000...

Page 913: ...SFC 209 FILE_CRE Create file By using this block you may create a new file with the entered file name on the memory card if plugged and open it for read write access Please regard that you may only create files at the top directory level REQ 1 initializes the function After opening the write read flag is at 0 Parameters Parameter Declaration Data type Description REQ IN BOOL Activate function MEDI...

Page 914: ...not valid A003h A general error in the file system occurred A004h No root entry is available in the directory A005h Memory card is write protected A100h General file system error e g no memory card plugged 16 3 5 FC SFC 210 FILE_CLO Close file This block allows you to close an opened file Here an EOF End of File is added the file is closed and the HANDLE released REQ 1 initializes the function Par...

Page 915: ... from the memory card to the CPU via the opened HANDLE starting from an ORIGIN position position of the read write flag During every call you may transfer a max of 512byte By setting of DATA you define storage place and length of the write area in the CPU REQ 1 initializes the function Parameters Parameter Declaration Data type Description REQ IN BOOL Activate function HANDLE IN INT Index of file ...

Page 916: ... and is not ready A000h System internal error occurred A003h Internal error A100h General file system error e g no memory card plugged 16 3 7 FC SFC 212 FILE_WR Write file Use this block for write access to the memory card This writes data from the position and length of the CPU defined under DATA to the memory card via the according HANDLE starting at the write read position During every call you...

Page 917: ... present 7001h REQ 1 1 call 7002h Block is executed 8010h Pointer in DATA has type BOOL 8011h Pointer in DATA cannot be decoded e g DB not loaded 8012h Data length exceeds 512byte 8100h The defined HANDLE is not valid 9001h For this Handle no file is opened 9002h Another function has been called via this HANDLE and is ready 9003h Another function has been called via this HANDLE and is not ready A0...

Page 918: ...OUT DINT Offset write read flag Codes that are returned by RETVAL Code Description 0000h OK OFFSET contains the current write read position 7000h REQ 0 BUSY 0 nothing present 7001h REQ 1 1 call 7002h Block is executed 8100h The defined HANDLE is not valid 9001h For this HANDLE no file is opened 9002h Another function has been called via this HANDLE and is ready 9003h Another function has been call...

Page 919: ... in 8 3 format NEWNAME IN STRING 254 New name of file must be in 8 3 format RETVAL OUT WORD Return value 0 OK BUSY OUT BOOL Function is busy Codes that are returned by RETVAL Code Description 0000h OK file has been renamed 7000h REQ 0 BUSY 0 nothing present 7001h REQ 1 1 call 7002h Block is executed 8010h Parameter OLDNAME is not present e g DB not loaded 8011h Error OLDNAME not conform with 8 3 f...

Page 920: ...k allows you to delete a file at the memory card For this type the file name of the file to delete under FILENAME CAUTION Please regard that you may only delete files that you ve closed before with FILE_CLO Nonobservance may cause data loss at the memory card Parameters Parameter Declaration Data type Description REQ IN BOOL Activate function MEDIA IN INT 0 MMC FILENAME IN STRING 254 Name of file ...

Page 921: ...fy the diag nostic address is used The SFC is asynchronous and can be applied only to one inter face At STOP and subsequent warm start the set network address is retained With Pow erOFF PowerON or on overall reset the interface gets the configured node number The DP slave consistently assumes the identity of the DP slave with the new address For the DP master the DP slave with the old address fail...

Page 922: ... for controlling the oscilloscope FIFO function of analog input channels with this functionality n It allows to start the recording and to read the buffered data n Depending upon the parameterization there are the following possibilities n Depending on the trigger condition at edge evaluation the monitoring of the config ured channel may be started respectively at manual operation the recording ma...

Page 923: ...the parameter MODE The configured mode is executed by setting REQ The fol lowing values are supported n 01h Starts recording respectively edge monitoring depending upon the parameteriza tion n 00h Read data within several cycles until BUSY 0 n 80h Read data with one access Here the channel is specified to be read With each call one channel may be read This parameter is irrelevant at start calls wi...

Page 924: ...At MODE 00h respectively 80h the number of values to be read may be set This parameter is ignored in FIFO operation The number of the read values is returned by LEN In addition to the module specific error codes listed here there general FC SFC error information may be returned as well RETVAL Description depending on the BUSY Bit BUSY Byte 0 Bit 1 0 00 Call with REQ 0 idle waiting for REQ 1 0 01 F...

Page 925: ...n depending on the BUSY Bit BUSY 8002h Oscilloscope FIFO function is not configured 0 8003h An internal error occurred please contact VIPA 0 8005h The selected channel may not be read wrong channel number 0 8007h The value at OFFSET exceeds the number of recorded values 0 8090h There is no SPEED Bus module with this address available 0 80D2h LADR exceeds the peripheral address area 0 VIPA SPEED7 S...

Page 926: ...Y Pointer to the data area of the CPU Logical base address of the module Den FC SFC 194 may be called with the following modes n 0000 Transfer data from the DP master to the CPU n 0001 Transfer data from the CPU to the DP master Here the length of the data area in the DP master is defined Here the beginning of the data area in the DP master is defined Please consider that the area defined via OFFS...

Page 927: ... process data is defined by the setting of INDEX and SUBINDEX Via SDO per each access a max of one data word process data can be transferred Parameters Parameter Declaration Data type Description REQUEST IN BOOL Activate function SLOT_MASTER IN BYTE SPEED Bus slot 101 116 NODEID IN BYTE CAN address 1 127 TRANSFERTYP IN BYTE Type of transfer INDEX IN DWORD CANopen Index SUBINDEX IN DWORD CANopen su...

Page 928: ...604 0042h The number and length of the objects to be mapped would exceed PDO length 0604 0043h General parameter incompatibility reason 0604 0047h General internal incompatibility reason in the device 0606 0000h Access failed because of an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter ex...

Page 929: ...FC is not supported F025h Write buffer in CANopen master overflow service cannot be processed at this time F026h Read buffer in CANopen master overflow service cannot be processed at this time F027h SDO read or write access with defective response Ä CANOPENERROR page 928 F028h SDO timeout no CANopen station with this node ID found As long as BUSY 1 the current order is not finished n Data area via...

Page 930: ... start up of the CPU the INTERBUS master are stored in the I O address range of the CPU following the shown formula if no hardware configuration is present Start address 256 slot 101 2048 The slot numbers at the SPEED Bus start with 101 at the left side of the CPU and raises from the right to the left For example the 1 slot has the address 2048 the 2 the address 2304 etc Address in the address ran...

Page 931: ...ays the difference in µs via VALUE Parameters Name Declaration Type Comment RESET IN BOOL RESET 1 start timer VALUE OUT DWORD Difference in µs RESET 1 transfers the current timer value to InstDB Here VALUE is not influenced After a call with RESET 0 VALUE returns the time difference between the two SFB 7 calls RESET VALUE VIPA SPEED7 System Blocks System Function Blocks SFB 7 TIMEMESS Time measure...

Page 932: ... may be accessed The partial lists are virtual list this means they are only created by the operating system of the CPUs when specifically requested and my only be read n A partial list or a list extract may be read e g by means of the SFC 51 RDSYSST n Here with the parameters SSL_ID and INDEX you define the kind of information to read A partial list always has the following structure n Header SSL...

Page 933: ... of the LEDs xy74h Status information CPU xy91h Stations status information DPM xy92h Stations status information DPM PROFINET IO and EtherCAT xy94h Module status information PROFIBUS DP PROFINET IO EtherCAT xy96h Diagnostic buffer of the CPU xyA0h Web server diagnostic information xy3Eh Module diagnostic information record set 0 xyB1h Module diagnostic information record set 1 via physical addres...

Page 934: ...lot User slot 103 6706h Identification of the basic hardware CP at 3 SPEED Bus slot User slot 103 6707h Identification of the basic firmware CP at 3 SPEED Bus slot User slot 103 6801h Identification of the module CP at 4 SPEED Bus slot User slot 104 6806h Identification of the basic hardware CP at 4 SPEED Bus slot User slot 104 6807h Identification of the basic firmware CP at 4 SPEED Bus slot User...

Page 935: ... of the basic hardware CP at 10 SPEED Bus slot User slot 110 6E07h Identification of the basic firmware CP at 10 SPEED Bus slot User slot 110 CE01h Identification of the module CP at CPU User slot 206 CE06h Identification of the basic hardware CP at CPU User slot 206 CE07h Identification of the basic firmware CP at CPU User slot 206 LENTHDR 001Ch One record set is 14words long 28bytes N_DR xxxxh N...

Page 936: ... third and fourth digit in hex n 0082h Low word of SVN revision in hex n 0083h Low word of SVN revision CP in hex CPU is configured as Siemens 318 2AJ00 INDEX offset Length Description 0 1word Number of an identification record set 2 20byte n 0001h and 0006h Order number MlfB of the module string of 19 characters and one blank 20h e g 6ES7 318 2AJ00 0AB0 n 0007h VIPA product name and hardware rele...

Page 937: ...ponse 0300h MC7 language description of the CPU LENTHDR 0002h One record set is 1word long 2bytes N_DR xxxxh Number of record sets n SSL_ID 0012h All record sets of the CPU characteristics relevant for your CPU are listed They follow completely one behind the other One record set is 1word long For each feature there is an ID This ID is 1word long You will find the list of the character istics IDs ...

Page 938: ...th corresponding instructions 0309h Operations for area crossing addressing 030Ah Operations for area internal addressing 030Bh all memory indirect addressing instructions via M 030Ch all memory indirect addressing instructions via DB 030Dh all memory indirect addressing instructions via DI 030Eh all memory indirect addressing instructions for L 030Fh all instructions for parameter transfer in FCs...

Page 939: ...h Number of record sets Record set SSL_ID xy13h INDEX offset Length Description 0 1word INDEX of a memory area n 0001h Work memory n 0002h Load memory integrated n 0003h Load memory plugged n 0004h max plug in load memory n 0005h Size of backup memory 2 1word Type of memory n 0001h volatile memory RAM n 0002h non volatile memory RAM n 0003h mixed memory RAM and EPROM 4 2words Total size of the sel...

Page 940: ...xy14h If you read the partial list with SSL_ID xy14h you obtain information about the system areas of the CPU Inhalt Wert Description SSL_ID 0014h All system areas of a CPU 0F14h SSL partial list header information INDEX xxxxh irrelevant LENTHDR 0008h One record set is 4words long 8byte N_DR 0009h Number of record sets n You must at least assign a number of 9 record sets n If you select a target a...

Page 941: ... in the logical address area n 0007h Local data entire local data area of the CPU in byte This INDEX is only provided by the CPU where the number of local data area can be shown in one word If your CPU does not provide this value you must evil INDEX 0009h n 0008h Memory number in bytes n 0009h Local data entire local data area of the CPU in kbytes 2 1word Memory type n 0001h RAM n 0002h EPROM 4 1w...

Page 942: ... 10byte N_DR xxxxh Number of record sets Record set SSL_ID 0115h INDEX offset Length Description 0 1word Block type number n 0800h OB n 0A00h DB n 0B00h SDB n 0C00h FC n 0E00h FB n 8800h VOB n 8A00h VDB n 8B00h VSDB n 8C00h VFC n 8E00h VFB 2 1word Maximum number of blocks of the type n at OBs max possible number of OBs for a CPU n at DBs max possible number of DBs including DB0 n at SDBs max possi...

Page 943: ...ible number of OBs for a CPU n at DBs max possible number of DBs including DB0 n at SDBs max possible number of SDBs including SDB2 n at FCs and FBs max possible number of loadable blocks 4 1word Maximum total size of the object to be loaded in kbytes 6 2words Maximum length of the work memory part of a block in bytes VIPA SPEED7 SSL System status list Block types SSL ID xy15h HB00 OPL_SP7 Operati...

Page 944: ...rce n MICRO CPU fix 0 x x 0008h BATF always 0 This INDEX only exists in CPUs configured as CPU 318 2AJ00 n SLIO CPU fix 0 n MICRO CPU fix 0 x x 000Bh BF1 BUSF1 Bus error interface 1 n 300S CPU DPM fix 0 n 300S CPU PN EC PROFIBUS ERR LED n SLIO CPU PN EC PROFIBUS BF LED n MICRO CPU x x 000Ch BF2 BUSF2 PROFINET Bus error interface 2 n 300S CPU DPM PROFIBUS ERR LED n 300S CPU PN EC PROFIBUS BF LED n ...

Page 945: ...annel virtual BS LED n MICRO CPU PROFINET via Ethernet PG OP channel virtual BS LED VIPA specific x x 1000h Access to memory card LED n 300S CPU MMC LED n SLIO CPU SD LED n MICRO CPU virtuell SD LED blinking with 10Hz VIPA specific x x 1001h PROFIBUS Data Exchange slave LED n 300S Slave CPU fix 0 n all other 300S CPUs n SLIO CPU n MICRO CPU VIPA specific x x 1002h MICRO Status bar left green VIPA ...

Page 946: ...1 SPEED Bus slot User slot 101 x x 6505h STOP from CP on 1 SPEED Bus slot User slot 101 x x 6601h SF Group error from CP on 2 SPEED Bus slot User slot 102 x x 6604h RUN from CP on 2 SPEED Bus slot User slot 102 x x 6605h STOP from CP on 2 SPEED Bus slot User slot 102 x x 6701h SF Group error from CP on 3 SPEED Bus slot User slot 103 x x 6704h RUN from CP on 3 SPEED Bus slot User slot 103 x x 6705h...

Page 947: ... slot User slot 107 x x 6B04h RUN from CP on 7 SPEED Bus slot User slot 107 x x 6B05h STOP from CP on 7 SPEED Bus slot User slot 107 x x 6C01h SF Group error from CP on 8 SPEED Bus slot User slot 108 x x 6C04h RUN from CP on 8 SPEED Bus slot User slot 108 x x 6C05h STOP from CP on 8 SPEED Bus slot User slot 108 x x 6D01h SF Group error from CP on 9 SPEED Bus slot User slot 109 x x 6D04h RUN from C...

Page 948: ...ith 1Hz VIPA specific n 4 flashing with 4Hz VIPA specific n 5 flashing with 2 5Hz VIPA specific n 6 flashing with 10Hz VIPA specific n 7 cyclically short 200 ms flashes once then off for 1000ms VIPA specific n 8 cyclical flashes twice briefly 200ms then off for 1000ms VIPA specific n 9 cyclically three short flashes 200ms then off for 1000ms VIPA specific n 10 cyclical remains 4 seconds then 2 sec...

Page 949: ...mory card only at SSL_ID 011Ch 00E1h Serial number at the key file in the plugged memory card only at SSL_ID 011Ch 00FFh Serial number of the memory card CID with CardType only at SSL_ID 011Ch LENTHDR xxxxh n INDEX 00E0h A record set is 17words long 34byte n INDEX 00E0h 00E1h A record set is 5words long 10byte n INDEX 00FFh A record set is 19words long 38byte N_DR Number of record sets 0009h at SS...

Page 950: ...INDEX SSL_ID 011C Identifier of the component 0005h 2 12words Serial number of the module max 24 characters 26 4words reserved If names and designations are shorter than the corresponding max characters the gaps are filled with 00h SSL_ID xy1Ch INDEX 0007h INDEX offset Length Description 0 1word INDEX SSL_ID 011C Identifier of the component 0007h 2 16words Module type name as character string max ...

Page 951: ...ds Location identifier of the module max 32 characters If names and designations are shorter than the corresponding max characters the gaps are filled with 00h SSL_ID xy1Ch INDEX 00E0h INDEX offset Length Description 0 1word INDEX SSL_ID 011C Identifier of the component 000Bh 2 5words Serial number at the key file in the activated memory card only at SSL_ID x11Ch If names and designations are shor...

Page 952: ...t status of interrupt processing and interrupt generation in the module Content Value Description SSL_ID 0222h Status information on the alarm OBs The interrupt class is to be specified via INDEX INDEX 0001h OB 1 Free cycle 000Ah OB 10 Time of day interrupt 000Bh OB 11 Time of day interrupt 0014h OB 20 Time delay interrupt 0015h OB 21 Time delay interrupt 001Ch OB 28 VIPA Watchdog Interrupt 001Dh ...

Page 953: ...chronous error 0053h OB 83 Asynchronous error 0055h OB 85 Asynchronous error 0056h OB 86 Asynchronous error 0057h OB 87 Asynchronous error 0064h OB 100 Reboot 0066h OB 102 Reboot 0079h OB 121 Synchronous error 007Ah OB 122 Synchronous error LENTHDR 001Ch A record set is 14words long 28bytes N_DR 0001h Number of record sets here always 1 VIPA SPEED7 SSL System status list Interrupt status SSL ID xy...

Page 954: ...et processed otherwise the priority class of the last call n If an OB has several start events and these have not yet occurred at the information time then event no xyzzh is returned with x event class y undefined zz smallest defined number in the group Otherwise the number of the last start event that occurred is used 20 1word Processing identifiers n Bit 0 Interrupt event is caused by parameters...

Page 955: ...class and identifiers 11h Alarm is active 1 1byte 64h Start request for OB 61 2 1byte Assigned priority class Default value 25 3 1byte OB number 61 64 4 1byte reserved 5 1byte reserved 6 1bit OB61_GC_VIOL GC violation at PROFIBUS DP 6 1bit OB61_FIRST First run after start up or stop state 7 1byte Number of failed OB 61 starts since the last OB 61 execution 8 1byte PROFINET IO system ID of the cloc...

Page 956: ...ot loaded 1 is loaded n Bit 5 Interrupt OB is by TIS 0 enabled 1 disabled n Bit 6 Entry in diagnostic buffer 0 enabled 1 disabled n Bit 15 7 reserved 2 2 Bytes Reaction with not loaded locked OB n Bit 0 1 Lock interrupt source n Bit 1 1 Generate interrupt event error n Bit 2 1 CPU goes into STOP mode n Bit 3 1 Interrupt only discarded n Bit 15 4 reserved 4 4 Bytes Discard by TIS functions n Bit nu...

Page 957: ...l list extract contains information about general of communication status data INDEX offset Length Description 0 1word General condition data for communication 2 1word Reserved number of PG connections Default 1 4 1word Reserved Number of OP connections Default 1 6 1word Number of occupied PG connections 8 1word Number of occupied OP connections 10 1word Number of configured S7 connections Default...

Page 958: ...IS status 2 1word Number of furnished TIS orders 4 18words reserved SSL_ID 0132h INDEX 0004h The partial list extract contains information about protection status data INDEX offset Length Description 0 1word 0004h Protection status 2 1word Protection at the key switch possible value 1 2 or 3 4 1word n Configured protection level possible values 0 1 2 or 3 0 no password parameterized protection lev...

Page 959: ...sive OR operation over the lengths of the following blocks OBs DBs FBs FCs 24 8words reserved SSL_ID 0132h INDEX 0006h The partial list extract contains information about data exchange via communication SFB of configured connections INDEX offset Length Description 0 1word 0006h Data exchange via communication SFB of configured connections 2 1words Used SFB blocks 10 1byte reserved 11 1word Number ...

Page 960: ...meter overflow x with 0 x 7 1 overflow 33 1byte reserved 34 3words reserved Status Time status High byte Low byte Bit number 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SG correction value hr su wi res sync Bit Description Default value 0 Synchronization failure This parameter indicates whether the time transmitted in the frame from an external time master is synchronized n 0 synchronization failed n 1 ...

Page 961: ... versa n 0 no adjustment made n 1 adjustment made 0 8 reserved 0 9 reserved 0 14 10 Correction value Local time basic time correction value 0 5h This correction takes into account the time zone and the time difference 00000 15 Sign for the correction value n 0 positive n 1 negative 0 SSL_ID 0132h INDEX 0009h The partial list extract contains information about the status data of the MPI INDEX offse...

Page 962: ... Run time meter x with 0 x 7 1 Run time meter active 3 1byte reserved 4 1byte n Bit x Run time meter overflow x with 0 x 7 1 overflow 5 1byte reserved 6 1Dword Run time meter 0 time in hours 10 1Dword Run time meter 1 time in hours 14 1Dword Run time meter 2 time in hours 18 1Dword Run time meter 3 time in hours 22 1Dword Run time meter 4 time in hours 26 1Dword Run time meter 5 time in hours 30 1...

Page 963: ... OP channel If an interface is not configured the value 2000h is supplied in logaddr This is also the case for the Ethernet PG OP channel for example if a CP 343 1EX11 343 1EX21 or 343 1EX30 is configured but the Ethernet interface is not networked Here the SSL ID 0137h provides no record set Content Value Description SSL_ID 0037h 0137h 0F37h Details of all Ethernet interfaces Details of an Ethern...

Page 964: ... default router n If you have not configured a default router here the IP address of the interface is entered 14 mac_addr 6byte MAC address 20 source 1byte Origin of the IP address n 00h IP address is not initialized n 01h IP address was configured n 02h IP address was set by DCP n 03h IP address comes from a DHCP server n 04h FFh reserved 21 reserved 1byte reserved 22 dcp_mod_ timestamp 8byte Tim...

Page 965: ...matically adjust to the LAN medium n Bit 6 4 0 n Bit 7 Validity 0 phys_mode1 has no valid data 1 phys_mode1 has valid data The numbering of the ports is identical to the numbering in the configura tion If the interface has only one port whose physical properties are entered at port 1 31 phys_mode2 1byte State of port 2 structure like phys_mode1 45 phys_mode1 6 1byte State of port 16 structure like...

Page 966: ... TCON Online Diagnostics is not possible Diagnostics button in the Siemens SIMATIC Manager gray It is delivered only the header and no further user data n 0 TCON Online Diagnosis enabled SSL_ID xy3Ah INDEX 003Ah If you read this partial list you obtain information of the TCON connection from qualified CPUs INDEX offset Length Description 0 1word 0100h unknown 2 1word current connection number not ...

Page 967: ...r Offset 132 96 8byte 4 timestamp1 Timestamp for successful connection Is copied in disconnection by timestamp 2 and deleted reset all to 0 104 8byte 5 timestamp1 Timestamp of the last failed connection attempt In this purpose there is an error number Offset 130 112 4byte rem_ip_addr remote IP address 4 116 2byte rem_port_nr remote Port number 4 118 2byte spare4 120 4byte rem_ip_addr remote IP add...

Page 968: ...07h system internal error 7 0008h system internal error 8 0009h system internal error 9 000Ah system internal error 10 000Bh Call attempt to own station address 000Ch double addressing 000Dh unknown error 134 1word Current connection attempts is reset when connected 136 1Dword Number of bytes sent 140 1Dword Number of bytes received 144 1word Number of successful connection attempts 146 1word 0000...

Page 969: ... 0 1word Version of the supported WebVisu API n MSB Major n LSB Minor 2 1word Status codes of the WebVisu Ä Status codes of the WebVisu page 970 4 1word Configured port number of the WebVisu 0000h WebVisu not active 6 1word Configured port number of the HTTPS WebVisu 0000h WebVisu not active 8 1byte Number of active sessions 9 1byte Maximum number of parallel sessions 10 1word Number of variables ...

Page 970: ...ver shuts down 0x0003 WebVisu STOP requested 0x0004 WebVisu server is down 0x1000 WebVisu is not enabled external memory card VSD or VSC is missing 0x1001 WebVisu was disabled by the user 0x1002 No WebVisu project available 0x1003 No hardware configuration is loaded in the CPU 0x1004 Invalid WebVisu configuration 0xE000 Error initializing the file system 0xE100 Error loading WebVisu project projec...

Page 971: ... 0 1 HTTP enabled 1 1 HTTPS enabled 2 1 Password protection activated 3 31 reserved Feature code VIPA SPEED7 SSL System status list WebVisu diagnostic information SSL ID xy3Eh HB00 OPL_SP7 Operation list en 18 30 971 ...

Page 972: ... record sets Record set SSL ID xy74h INDEX offset Length 0074h 0174h 0E74h Value Description LED 0 1word x x 0001h SF Group error x x 0004h RUN x x 0005h STOP x x 0006h FRCE Force n MICRO CPU fix 0 x x 0008h BATF always 0 This INDEX only exists in CPUs configured as CPU 318 2AJ00 n SLIO CPU fix 0 n MICRO CPU fix 0 x x 000Bh BF1 BUSF1 Bus error interface 1 n 300S CPU DPM fix 0 n 300S CPU PN EC PROF...

Page 973: ...tate 1 n 300S CPU EC LED n SLIO CPU PN EC BS1 LED n MICRO CPU VIPA specific x x 0101h BS2 Bus state Ethernet PG OP channel n 300S CPU n SLIO CPU PROFINET via Ethernet PG OP channel virtual BS LED n MICRO CPU PROFINET via Ethernet PG OP channel virtual BS LED VIPA specific x x 1000h Access to memory card LED n 300S CPU MMC LED n SLIO CPU SD LED n MICRO CPU virtual SD LED blinking with 10Hz VIPA spe...

Page 974: ...ific x x 2003h n 300S CPU DPM IF LED n SLIO CPU 0 fix n MICRO CPU VIPA specific x x 6501h SF Group error from CP on 1 SPEED Bus slot User slot 101 x x 6504h RUN from CP on 1 SPEED Bus slot User slot 101 x x 6505h STOP from CP on 1 SPEED Bus slot User slot 101 x x 6601h SF Group error from CP on 2 SPEED Bus slot User slot 102 x x 6604h RUN from CP on 2 SPEED Bus slot User slot 102 x x 6605h STOP fr...

Page 975: ...D Bus slot User slot 106 x x 6A04h RUN from CP on 6 SPEED Bus slot User slot 106 x x 6A05h STOP from CP on 6 SPEED Bus slot User slot 106 x x 6B01h SF Group error from CP on 7 SPEED Bus slot User slot 107 x x 6B04h RUN from CP on 7 SPEED Bus slot User slot 107 x x 6B05h STOP from CP on 7 SPEED Bus slot User slot 107 x x 6C01h SF Group error from CP on 8 SPEED Bus slot User slot 108 x x 6C04h RUN f...

Page 976: ...0 5Hz Note EtherCat systemic flashing frequency 1Hz n 3 flashing with 1Hz VIPA specific n 4 flashing with 4Hz VIPA specific n 5 flashing with 2 5Hz VIPA specific n 6 flashing with 10Hz VIPA specific n 7 cyclically short 200 ms flashes once then off for 1000ms VIPA specific n 8 cyclical flashes twice briefly 200ms then off for 1000ms VIPA specific n 9 cyclically three short flashes 200ms then off f...

Page 977: ...igured modules central decentral PROFIBUS DP PROFINET IO or EtherCAT 0E91h Module status information of all assigned modules 0F91h Only SSL parts list header information INDEX xxxxh SSL_ID 0091h 0A91h 0E91h INDEX irrelevant SSL_ID 0C91h and 4C91h n Bits 0 14 any logical address of the module n Bit 15 0 Input 1 Output SSL_ID 0D91 n xx00h Modules or submodules from the rack or station number With xx...

Page 978: ...therwise reserved SSL ID 0C91h Number of really existing submodules without submodule 0 SSL ID 0D91h Number of submodules without submodule 0 SSL ID 4C91h Number of really existing submodules without submodule 0 SSL ID 4D91h Number of really existing submodules without submodule 0 12 eastat 1word n I O status Bit 0 1 Module error detected by diagnostic interrupt Bit 1 1 Module exists Bit 2 1 Modul...

Page 979: ...on number Bit 15 0 ID for PROFIBUS adr1 High byte Low byte Bit number 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 DP master system ID 1 32 Station number 0 127 n At a decentralized configuration with PROFINET IO or EtherCAT Station number To obtain the full PROFINET IO system ID you have to add 100 decimal to bit 12 14 Bit 15 1 ID for PROFINET or EtherCAT adr1 High byte Low byte Bit number 15 14 13 12...

Page 980: ...ystem 4092h Expected status of a DP master system which is connected via an external DP switch 4192h Activation status of a DP master system which is connected via an external DP switch 4292h Actual status of a DP master system which is connected via an external DP switch 4692h Diagnostic status of the expansion racks of a DP master system which is connected via an external DP switch 4F92 Only SSL...

Page 981: ...it 0 Central rack INDEX 0 or station 1 INDEX 0 Bit 1 1 Expansion rack or station 2 Bit 7 7 Expansion rack or station 8 1 status_1 1byte Bit 0 8 Expansion rack or station 9 Bit 7 15 Expansion rack or station 16 2 status_2 1byte Bit 0 16 Expansion rack or station 17 Bit 5 21 Expansion rack or station 22 Bit 6 0 or station 23 Bit 7 0 or station 24 3 status_3 1byte Bit 0 0 or station 25 Bit 5 0 or sta...

Page 982: ... Status bit 1 at least one module of rack station has malfunction or is de activated coming diagnostics interrupt neighbourhood interrupt remove fit interrupt failure manda tory station 0794h Diagnostic Maintenance condition of the central stations of a PROFINET IO control system PN IO subsystem ID n Status bit 0 no problem and no maintenance necessary n status bit 1 rack station has a problem or ...

Page 983: ...nformation A virtual PN device on the PROFINET network is configured for the SLIO CPU of a local SLIO bus The corresponding SSL_ID xy94h is filled with this configured station number If no virtual PN Device for the SLIO bus is configured then natively for the station number 2047 is used A virtual PN device is configured on the PROFINET network for the EtherCAT network The corresponding SSL xy94h i...

Page 984: ...C96h Module status information of a module submodule located centrally or on a PROFIBUS DP PROFINET EtherCAT interface module over the start address INDEX xxxxh n Bit 0 14 Logical base address of the module n Bit 15 0 Input 1 Output LENTHDR 0030h Length of the data record is 24words 48byte N_DR xxxxh Number of record sets Record set SSL_ID xy96h INDEX offset Length Description 0 1word n Bits 0 14 ...

Page 985: ... 7 word 2 Word of the double word submodule identification with EtherCAT IO reserved 0000 30 1word ID set point actual n Bit 0 0 Set point equal actual n Bit 0 1 Set point unequal actual n Bit 1 15 reserved 32 1word reserved 34 1word I O status n Bit 0 1 Module has malfunction detected by diagnostics n Bit 1 1 Module exists n Bit 2 1 Module not available n Bit 3 1 Module de activated n Bit 4 1 Sta...

Page 986: ...read the partial list you obtain the entries of the diagnostic buffer of your CPU or your CP Content Value Description SSL_ID 00A0h Shows all entries of the diagnostics buffer which are possible in the current mode 01A0h Shows the most recent entries of the diagnostics buffer 0FA0h n SSL partial list header information Length of an entry and how many entries there can be INDEX xxxxh SsL_ID 01A0h N...

Page 987: ...IME DATE_AND_TIME BCD format INDEX offset Description Area 0 year 1990 2089 1 month 01 12 2 day 1 31 3 hour 0 23 4 minute 0 59 5 second 0 59 6 n 2 MSD from ms MSD Most Significant Decade 00 99 7 4 MSB n LSD from ms LSD Least Significant Decade 0 9 7 4 LSB weekday 1 7 1 Sunday More information about the events in the diagnostics buffer of your CPU may be found in the manual of your CPU or in the ma...

Page 988: ...Length Description 0 1byte n Bit 0 Module fault group fault ID n Bit 1 Internal fault n Bit 2 External fault n Bit 3 Channel error exists n Bit 4 No external auxiliary voltage n Bit 5 No front connector n Bit 6 Module not assigned parameters n Bit 7 Wrong parameters on module 1 1byte n Bit 0 3 Module class 0000 CPU 0101 Analog modules 1000 FM 1100 CP 1111 Digital modules 0011 DP Norm slave 0100 IM...

Page 989: ...ttery exhausted n Bit 6 Entire buffer failed n Bit 7 Maintenance requirement PROFINET IO only 3 1byte n Bit 0 Expansion rack failure detected by IM n Bit 1 Processor failure n Bit 2 EPROM error n Bit 3 RAM error n Bit 4 ADC DAC error n Bit 5 Fuse blown n Bit 6 Hardware error lost n Bit 7 reserved fix 0 VIPA SPEED7 SSL System status list Module diagnostic information SSL ID 00B1h HB00 OPL_SP7 Opera...

Page 990: ... Shows diagnostic record set 1 of a module INDEX xxyyh Here the following is to be specified via INDEX n xx Number of the rack n yy Slot number of the module LENTHDR xxxxh The length of the record set depends on the module N_DR 0001h Number of record set 1 Information to length and structure of the diagnostic record set may be found in the corresponding manual of your diagnosable module The first ...

Page 991: ...via the logical base address Content Value Description SSL_ID 00B3h Shows all the diagnostic data of a module INDEX xxxxh Here the following is to be specified via INDEX n Bit 0 14 Logical base address of the module n Bit 15 0 Input 1 Output LENTHDR xxxxh The length of the record set depends on the module N_DR 0001h Number of record set 1 Information to length and structure of the diagnostic data ...

Page 992: ...xxxxh Length of a record set The maximum length is 240bytes For standard slaves which have a diagnostic data length of more than 240bytes up to a maximum of 244bytes the first 240bytes are read and the overflow bit is set in the data N_DR 0001h Number of record set 1 Record set SSL_ID 00B4h INDEX offset Length Description 0 1byte Station status 1 1 1byte Station status 2 2 1byte Station status 3 3...

Page 993: ...ut 1 Output xDE0h State info of a EtherCAT master slave via the geographical address n Bit 0 10 Master slave ID n Bit 11 14 System ID1 of the EtherCAT network 100 n Bit 15 1 ID bit for EtherCAT PROFINET look and feel xFE0h SSL partial list header information INDEX xxxxh not relevant LENTHDR 0001h A record set is 1byte long N_DR n x0E0h Number of record sets 512 slaves 1 master n xCE0h xDE0h Number...

Page 994: ... Länge Value Description 08h Op FFh NotProjected für nicht projektierte EtherCAT Peripherie VIPA SPEED7 SSL System status list Information EtherCAT master slave SSL ID xyE0h HB00 OPL_SP7 Operation list en 18 30 994 ...

Page 995: ... 15 1 ID bit for EtherCAT PROFINET look and feel 0FE1h SSL partial list header information INDEX xxxxh not relevant LENTHDR 0004h A record set is 2words long 4bytes N_DR 0001h Number of record sets 1 1 Refer PROFINET IO system ID because EtherCAT is configured as PROFINET in the Siemens SIMATIC Manager Record set SSL_ID xyE1h INDEX offset Length Description 0 2words Information via the EtherCAT bu...

Page 996: ...are assigned a process image 05FAh Processing time Time for an execution cycle of request until the completion of pro cessing follow up 0FFAh SSL partial list header information INDEX xx00h Statistical information for all used OBs additionally OB 60 and OB 61 xx3Ch Statistical information for OB 60 xx3Dh Statistical information for OB 61 LENTHDR 0018h One record set is 12words long 24byte N_DR xxx...

Page 997: ...he first transition from Startup to RUN SSL ID 02FAh The data set includes the time taken to create the process image of inputs Only relevant for OBs which a process image is assigned INDEX offset Length Value Description 0 1byte 02h Number of partial list SSL Sub ID 1 1byte xxh OB Number statistical information for OB xx INDEX see above 2 1word xxxxh reserved 4 2words xxxxxxxxh Minimum execution ...

Page 998: ...0 recorded times 20 2words xxxxxxxxh reserved The times must be specified in µs The measurement of time starts with the first transition from Startup to RUN SSL ID 04FAh The data set includes the time for creating the process image of outputs Only relevant for OBs which a process image is assigned INDEX offset Length Value Description 0 1byte 04h Number of partial list SSL Sub ID 1 1byte xxh OB Nu...

Page 999: ...allest measured time 8 2words xxxxxxxxh Maximum execution time Maximum measured time 12 2words xxxxxxxxh Last run time Last measured time 16 2words xxxxxxxxh Average execution time The time is determined by the last 1000 recorded times 20 2words xxxxxxxxh Error counter This counter is increased at the time when the execution cycle is longer than 60 of the projected Sync clock The times must be spe...

Page 1000: ...d set in byte N_DR xxxxh Number of record sets Record set SSL_ID 00FCh INDEX Offset Length Description 0 2words VSC_Feature PROFIBUS DP n 0 PROFIBUS_NO n 1 PROFIBUS_MASTER n 2 PROFIBUS_SLAVE 4 2words VSC_Feature MemKeySize n Size of the memory extension via VSC card in byte 8 2words VSC TimeOut n Remaining time of the CPU with removed VSC card in ms for S7 data type Time 12 2words VSC_Feature CpFi...

Page 1001: ... VSC Karte in ms für S7 Datentyp Time Record set SSL_ID 01FCh INDEX 0004h INDEX Offset Length Description 0 2words VSC_Feature CpFieldbus n 0 FEATURE_SET_CP_FIELDBUS_NO n 1 FEATURE_SET_CP_FIELDBUS_ETHERCAT Record set SSL_ID 01FCh INDEX 0005h INDEX Offset Length Description 0 2words VSC_Feature Motion n 0 FEATURE_SET_MOTION_NO n 1 FEATURE_SET_MOTION_8AXIS n 2 FEATURE_SET_MOTION_20AXIS Record set SS...

Page 1002: ...instructions 51 Device Specific 246 DS ID 265 E Edge triggered instructions 37 Energy Measurement 264 ErrorID 637 EtherCAT Communication 238 Ethernet Communication 137 F FB 1 215 FB 7 216 FB 8 154 217 FB 9 155 FB 12 158 737 FB 13 161 740 FB 14 163 742 FB 15 165 744 FB 20 821 FB 21 822 FB 22 822 FB 23 824 FB 41 835 FB 42 841 FB 43 846 FB 45 103 FB 46 104 FB 47 106 FB 48 107 FB 49 109 FB 50 111 FB 5...

Page 1003: ...0 401 FB 873 360 FB 874 401 FB 875 423 FB 876 504 FB 877 505 FB 878 506 FB 879 506 FB 880 507 FB 881 507 FB 882 509 FB 885 449 FB 886 541 FB 887 541 FC 0 230 FC 1 232 805 FC 2 805 FC 3 806 FC 4 806 FC 5 139 807 FC 6 142 807 FC 7 807 FC 8 233 808 FC 9 234 808 FC 10 144 808 FC 11 236 809 FC 12 809 FC 13 809 FC 14 810 FC 15 810 FC 16 811 FC 17 811 FC 18 811 FC 19 812 FC 20 812 FC 21 813 FC 22 813 FC ...

Page 1004: ...1 910 915 FC 212 910 916 FC 213 910 918 FC 214 910 919 FC 215 910 920 FC 216 204 FC 217 208 FC 218 213 FC 219 927 FC 254 929 FC 300 246 FC 301 248 FC 302 251 FC 303 253 FC 310 256 FC 311 258 FC 312 260 FC 313 262 Fetch Write Communication 883 File Functions SPEED7 CPUs 910 FKT Codes 197 FR ID 265 Frame 265 Frequency Measurement 246 H Hardware Interrupts 82 HW_ID 66 I ID 264 IEC 805 IL operations 1...

Page 1005: ...81 Open Communication 114 Organization Blocks 71 P PID 835 PLCopen parameter 611 Program display operation instructions 36 R RAM to WLD 280 Registers 27 Resetting bit addresses 43 RET_VAL 66 Room 103 RTU 190 S S5 Converting 825 SDO Communication 238 Serial communication 203 Serial Communication 203 Setting bit addresses 43 SFB 0 729 SFB 1 730 SFB 2 731 SFB 3 733 SFB 4 734 SFB 5 735 SFB 7 931 SFB 8...

Page 1006: ... 50 684 SFC 51 685 SFC 52 687 SFC 53 689 SFC 54 690 SFC 55 692 SFC 56 694 SFC 57 696 SFC 58 698 SFC 59 700 SFC 64 702 SFC 65 703 SFC 66 705 SFC 67 708 SFC 68 711 SFC 69 714 SFC 70 716 SFC 71 717 SFC 75 921 SFC 81 720 SFC 101 721 SFC 102 722 SFC 105 723 SFC 106 726 SFC 107 727 SFC 108 727 SFC 193 922 SFC 194 926 SFC 195 910 911 SFC 207 203 SFC 208 910 912 SFC 209 910 913 SFC 210 910 914 SFC 211 910...

Page 1007: ...atus list 932 Standard 795 Startup 72 Synchronous Interrupts 98 System Blocks 883 System Function Blocks 729 931 System Functions 645 921 T TCP 183 Time delay Interrupts 77 Time of day Interrupts 78 TimeFunctions 878 Timer instructions 64 Transfer instructions 47 U UDT 3 108 UDT 4 109 UDT 60 878 UDT 65 124 UDT 66 136 UDT 321 279 UDT 325 268 UDT 860 544 548 UDT 861 548 UDT 870 322 UDT 872 360 401 U...

Reviews:

No comments